Position/Force Control for a Single Leg of a Quadruped Robot in an Operation Space | Zendy

Taihui Zhang | Zendy; Qing Wei | Zendy; Hongxu Ma | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Position/Force Control for a Single Leg of a Quadruped Robot in an Operation Space

Author(s) -

Taihui Zhang,

Qing Wei,

Hongxu Ma

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/54823

Subject(s) - position (finance) , control theory (sociology) , computer science , kinematics , robot , matlab , controller (irrigation) , space (punctuation) , base (topology) , simulation , control engineering , control (management) , physics , artificial intelligence , mathematics , classical mechanics , engineering , mathematical analysis , finance , agronomy , economics , biology , operating system

For a quadruped robot, to make full use of the sensors, especially the force sensor installed on the foot and adapt to the environment well, a kind of position/force control method is proposed in this paper. A quadruped mobile robot single leg model is established in this paper and its dynamic equation in a joint space is deduced by using the Lagrange equation. Then the model is transformed in the joint space into an operation space, based on the operation space coordinates, via kinematic relations. Next the new position/force control law on the base of the operation space dynamic equation is designed. In the end, the controller in the MatLab simulation environment is tested

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research