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Impedance control approach in robot's leg dragging velocity variations

One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control is widely used by researchers for dynamic interaction, but the majority only focus on adapting uneven terrain structure. This idea may not be suitable for...

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Main Authors: W. M. N. W, Lezaini, Addie Irawan, Hashim
Format: Conference or Workshop Item
Language:English
Published: Institute of Electrical and Electronics Engineers Inc. 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/22976/1/Impedance%20control%20approach%20in%20robot%27s%20leg%20dragging%20velocity%20variations.pdf
http://umpir.ump.edu.my/id/eprint/22976/
https://ieeexplore.ieee.org/abstract/document/8384665
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spelling my.ump.umpir.229762020-09-07T09:02:54Z http://umpir.ump.edu.my/id/eprint/22976/ Impedance control approach in robot's leg dragging velocity variations W. M. N. W, Lezaini Addie Irawan, Hashim TK Electrical engineering. Electronics Nuclear engineering One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control is widely used by researchers for dynamic interaction, but the majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that has different weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg velocity control through impedance control approach with the aim to increase the energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increases the energy and velocity of leg motion due to increase in force on contact while maintaining the shape of the leg motion. Institute of Electrical and Electronics Engineers Inc. 2018-06 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22976/1/Impedance%20control%20approach%20in%20robot%27s%20leg%20dragging%20velocity%20variations.pdf W. M. N. W, Lezaini and Addie Irawan, Hashim (2018) Impedance control approach in robot's leg dragging velocity variations. In: 4th International Conference on Control, Automation and Robotics (ICCAR 2018) (, 20-23 April 2018 , Auckland, New Zealand. pp. 171-174.. ISBN 978-153866338-7 https://ieeexplore.ieee.org/abstract/document/8384665
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
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
W. M. N. W, Lezaini
Addie Irawan, Hashim
Impedance control approach in robot's leg dragging velocity variations
description One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control is widely used by researchers for dynamic interaction, but the majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that has different weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg velocity control through impedance control approach with the aim to increase the energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increases the energy and velocity of leg motion due to increase in force on contact while maintaining the shape of the leg motion.
format Conference or Workshop Item
author W. M. N. W, Lezaini
Addie Irawan, Hashim
author_facet W. M. N. W, Lezaini
Addie Irawan, Hashim
author_sort W. M. N. W, Lezaini
title Impedance control approach in robot's leg dragging velocity variations
title_short Impedance control approach in robot's leg dragging velocity variations
title_full Impedance control approach in robot's leg dragging velocity variations
title_fullStr Impedance control approach in robot's leg dragging velocity variations
title_full_unstemmed Impedance control approach in robot's leg dragging velocity variations
title_sort impedance control approach in robot's leg dragging velocity variations
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/22976/1/Impedance%20control%20approach%20in%20robot%27s%20leg%20dragging%20velocity%20variations.pdf
http://umpir.ump.edu.my/id/eprint/22976/
https://ieeexplore.ieee.org/abstract/document/8384665
_version_ 1677781324356648960
score 13.211869

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