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Impedance control approach in robot’s leg dragging velocity variations

Lezaini, - and W. M., N. W. and Irawan, Addie (2018) Impedance control approach in robot’s leg dragging velocity variations. In: The 4th International Conference on Control, Automation and Robotics (ICCAR 2018), 20 - 23 Apr 2018 , Auckland, New Zealand. pp. 171-174..

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Abstract

One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that have varied weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg motion speed control through impedance control approach with aim to increase energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increase the energy and velocity of leg motion due to increase in force on contact while maintaining shape of the leg motion.

Item Type: Conference or Workshop Item (Speech)
Uncontrolled Keywords: Impedance control; Kinetic energy; Legged robot; Dynamic;
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 21 Sep 2018 02:46
Last Modified: 28 Sep 2018 08:00
URI: http://umpir.ump.edu.my/id/eprint/21994
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