Torque-control based compliant actuation of a quadruped robot
作者： Michele Focchi , Thiago Boaventura , Claudio Semini , Marco Frigerio , Jonas Buchli
关键词: Torque 、 Cartesian coordinate system 、 Stiffness 、 Impedance control 、 Robot end effector 、 Control theory 、 Work (physics) 、 Control theory 、 Robot 、 Computer science
摘要: In the realm of legged locomotion, being compliant to external unperceived impacts is crucial when negotiating unstructured terrain. Impedance control a useful framework allow robot follow reference trajectories and, at same time, handle disturbances. To implement impedance control, high performance torque in all joints great importance. this paper, for electric HyQ described and its assessed. quadruped which has hybrid actuation: hydraulic electric. This work complements our previous work, was addressed. Subsequently, we describe implementation an controller leg. Experimental results assess tracking capability desired Cartesian force end-effector under action Another set experiments involves shaping different stiffness behaviors (stiffness ellipses) foot.
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