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Impedance control approach on leg motion speed variation on soft surface interaction

Wan Mohd Nafis, Wan Lezaini and Irawan, Addie and A. R., Razali (2018) Impedance control approach on leg motion speed variation on soft surface interaction. International Journal of Engineering & Technology, 7 (4.27). pp. 1-6. ISSN 2227-524X

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Abstract

This article presents the leg speed variation control using impedance control approach on soft surface displacement motion. One of the challenging fields of designing a legged robot that can be equipped with adaptation ability is it dynamic control which majorly involved in interaction with the environment. Numerous researchers have been widely implemented impedance control as dynamic interaction but less emphasized in adapting soft terrain. Most of the impedance control implementation on the legged robot on rough terrain emphasized on position changes, and it may not practical for legged robot navigate on the soft terrain. Soft terrain contains different ground stiffness and medium viscosities. Thus, this study has taken the initiative to propose a speed variation control on a robot’s leg by using a force-based impedance control approach to increase the leg energy exchanges specifically on foot placement. The proposed control was validated in actual robot’s leg, and performances show that the energy in the leg increases as the velocity of leg motion increase due to increase in force feedback while maintaining the shape of the leg motion.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Energy; Impedance control; Legged robot; Mobile robot; Speed variation of motion
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Faculty of Mechanical Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 21 Nov 2018 04:17
Last Modified: 09 Jan 2019 02:31
URI: http://umpir.ump.edu.my/id/eprint/22409
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