A Self-adaptive Active Compliance Controller for Hexapod Robot Legs
Walking is a fascinating way of locomotion,especially for Hexapod robot,having better robustness for its redundancy.Intend to enhance the adaptation to the unstructured terrain,a hexapod robot leg with the capability of sensing has been designed,it has the 3-D force sensor in the tibia and torque sensor in the first and second joint.The impedance control has been applied to realize force control,and combined with the online estimates algorithm to update the parameters of environment,aim to make the robot have the ability of adapting to the imitative shape and stiffness of contact environment in walking.Thus the self-adaptive active compliance control has been achieved,and the controller has been tested through virtual reality.
hexapod robot force sensor force control online estimation
Zhao Jie Zhang He Liu Yubin
State Key laboratory of Robotics and System Harbin Institute of Technology Harbin,China
国际会议
秦皇岛
英文
478-481
2010-11-05（万方平台首次上网日期，不代表论文的发表时间）