Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration

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Irawan, Addie and Hoe, Lih Jiun and M. M., Alam (2014) Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration. In: International Conference on Electrical and Computer Engineering (ICECE 2014), 20-22 December 2014 , Dhaka. pp. 757-760..

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Official URL: http://dx.doi.org/10.1109/ICECE.2014.7026865

Abstract

This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs.

Item Type:Conference or Workshop Item (Speech)
Additional Information:Publisher : IEEE ISBN: 978-1-4799-4167-4
Uncontrolled Keywords:Actuators; Closed loop systems; Convertors; Earthmoving equipment; Embedded systems; Legged locomotion
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Faculty of Electrical & Electronic Engineering
ID Code:9220
Deposited By: Mrs. Neng Sury Sulaiman
Deposited On:25 May 2015 15:59
Last Modified:11 Aug 2015 09:54

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