期刊名称:International Journal of Advanced Robotic Systems
印刷版ISSN:1729-8806
电子版ISSN:1729-8814
出版年度:2016
卷号:13
DOI:10.5772/62425
语种:English
出版社:SAGE Publications
摘要:In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.
关键词:Force Control Strategies; Climbing and Walking Robot; Foot-Ground Interaction; Zero-Moment Point; Impedance Control; Parallel Force/Position Control