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Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System
S. Golousov, R. Khusainov, S. Savin Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia
Аннотация:
The paper deals with one of the modern challenges in walking robotics: moving across a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan precise trajectories for the robot feet in advance, before a collision with the supporting surface occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on the compliant control is employed to deal with the problem. Additionally, to solve the problem of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile, which might be a desired property for some applications.
Ключевые слова:
walking robot, uneven terrain, compliant control, biomorphic reaction force profile.
Поступила в редакцию: 15.05.2019 Принята в печать: 22.07.2019
Образец цитирования:
S. Golousov, R. Khusainov, S. Savin, “Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System”, Rus. J. Nonlin. Dyn., 15:4 (2019), 477–485
Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/nd674 https://www.mathnet.ru/rus/nd/v15/i4/p477
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Страница аннотации: | 157 | PDF полного текста: | 35 | Список литературы: | 27 |
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