Combined use of ground learning model and active compliance to the motion control of walking robotic legs

D. Zhou, K. H. Low

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

Position control alone is not sufficient for practical motion control of a legged robot when it walks on soft- uneven terrain or in an unknown environment. In order to improve terrain adaptability of walking robots, foot force control is needed. In this article, a foot force/position adjustment method, the hybrid Ground-Learning model and Active Compliance force control method (in short, the hybrid GLAC method) is introduced. The proposed method combines active compliance force control with a ground- learning model to control of leg motion of the robot. The ground model here reflects the relationship between the leg-end force and the sinkage. To verify the control quality of the proposed method, together with Active Compliance control (AC control) and Ground Learning model control (GL control), experiments based on a robotic leg have been carried out on hard and soft terrain, respectively. The results show that the proposed method can ensure the actual leg-end force to follow closely the changing of refe rence forces both on hard and soft terrain. Therefore, by using hybrid GLAC control, the error of the actual forces relative to the reference forces can be reduced more quickly than by using AC method.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3159-3164
Number of pages6
DOIs
StatePublished - Sep 15 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

Fingerprint Dive into the research topics of 'Combined use of ground learning model and active compliance to the motion control of walking robotic legs'. Together they form a unique fingerprint.

Cite this