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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| Language: | en |
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Institute of Electrical and Electronics Engineers Inc.
2018
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| 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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| 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 |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.ump.umpir.22976 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2018 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| record_format | eprints |
| 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 (Published) https://ieeexplore.ieee.org/abstract/document/8384665 |
| 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 |
| title | 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_short | Impedance control approach in robot's leg dragging velocity variations |
| title_sort | impedance control approach in robot's leg dragging velocity variations |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| 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 |
| url_provider | http://umpir.ump.edu.my/ |