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

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 envi...

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Main Authors: Wan Mohd Nafis, Wan Lezaini, Addie Irawan, Hashim, A. R., Razali
Format: Article
Language:English
English
Published: Science Publishing Corporation 2018
Subjects:
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/22409/1/Impedance%20control%20approach%20on%20leg%20motion%20speed%20variation%20on%20soft%20surface%20interaction.pdf
http://umpir.ump.edu.my/id/eprint/22409/7/Impedance%20Control%20Approach%20on%20Leg%20Motion%20Speed%20Variation%20on%20Soft%20Surface%20Interaction.pdf
http://umpir.ump.edu.my/id/eprint/22409/
https://www.sciencepubco.com/index.php/ijet/article/view/23236/11522
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spelling my.ump.umpir.224092020-09-07T09:03:15Z http://umpir.ump.edu.my/id/eprint/22409/ Impedance control approach on leg motion speed variation on soft surface interaction Wan Mohd Nafis, Wan Lezaini Addie Irawan, Hashim A. R., Razali TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering 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. Science Publishing Corporation 2018 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22409/1/Impedance%20control%20approach%20on%20leg%20motion%20speed%20variation%20on%20soft%20surface%20interaction.pdf pdf en cc_by http://umpir.ump.edu.my/id/eprint/22409/7/Impedance%20Control%20Approach%20on%20Leg%20Motion%20Speed%20Variation%20on%20Soft%20Surface%20Interaction.pdf Wan Mohd Nafis, Wan Lezaini and Addie Irawan, Hashim 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 https://www.sciencepubco.com/index.php/ijet/article/view/23236/11522
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
A. R., Razali
Impedance control approach on leg motion speed variation on soft surface interaction
description 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.
format Article
author Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
A. R., Razali
author_facet Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
A. R., Razali
author_sort Wan Mohd Nafis, Wan Lezaini
title Impedance control approach on leg motion speed variation on soft surface interaction
title_short Impedance control approach on leg motion speed variation on soft surface interaction
title_full Impedance control approach on leg motion speed variation on soft surface interaction
title_fullStr Impedance control approach on leg motion speed variation on soft surface interaction
title_full_unstemmed Impedance control approach on leg motion speed variation on soft surface interaction
title_sort impedance control approach on leg motion speed variation on soft surface interaction
publisher Science Publishing Corporation
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/22409/1/Impedance%20control%20approach%20on%20leg%20motion%20speed%20variation%20on%20soft%20surface%20interaction.pdf
http://umpir.ump.edu.my/id/eprint/22409/7/Impedance%20Control%20Approach%20on%20Leg%20Motion%20Speed%20Variation%20on%20Soft%20Surface%20Interaction.pdf
http://umpir.ump.edu.my/id/eprint/22409/
https://www.sciencepubco.com/index.php/ijet/article/view/23236/11522
_version_ 1677781323911004160
score 13.211869

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