Impedance control approach in robot's leg dragging velocity variations

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, Irawan, Addie
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/
http://umpir.ump.edu.my/id/eprint/22976/
http://umpir.ump.edu.my/id/eprint/22976/1/Impedance%20control%20approach%20in%20robot%27s%20leg%20dragging%20velocity%20variations.pdf
id ump-22976
recordtype eprints
spelling ump-229762019-01-01T10:18:02Z http://umpir.ump.edu.my/id/eprint/22976/ Impedance control approach in robot's leg dragging velocity variations W. M. N. W, Lezaini Irawan, Addie 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 Irawan, Addie (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
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
W. M. N. W, Lezaini
Irawan, Addie
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
Irawan, Addie
author_facet W. M. N. W, Lezaini
Irawan, Addie
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/
http://umpir.ump.edu.my/id/eprint/22976/
http://umpir.ump.edu.my/id/eprint/22976/1/Impedance%20control%20approach%20in%20robot%27s%20leg%20dragging%20velocity%20variations.pdf
first_indexed 2023-09-18T22:34:13Z
last_indexed 2023-09-18T22:34:13Z
_version_ 1777416487445725184

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