【摘 要】
：
Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the
【机 构】
：
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;Sh
论文部分内容阅读
Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive unit.The main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal locomotion.With this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control system.With the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the system.Meanwhile,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground impacts.Afterwards,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed scheme.The results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.
其他文献
TheeventgeneratorURASiMAhasbeenusedtosimulatetheparticleproductionpro-cessin158GeV/uPb+Pbcentralcollisions.Propertiesofthetransversemassspectraandthecoordinatea
Shallow lacustrine delta front(SLDF)comprises mainly sheetlike subaqueous distributary channels(SDC)formed in shallow,gentle,and tectonically steady slope(Cai a
本刊(季刊)出版单位是国际原子能机构新闻处(通讯:P.O.Box 100,A-1400 Vienna,Austria;电话:(43-1)2360-1270;传真:(43-1)234564)。总干事:Hans Blix 博士副总干事:David Wa
实现小学数学课堂教学与信息技术的有效融合,可以帮助学生从中获得学习乐趣、增长见识、开发潜能,让他们可以在一个相对开放自由的环境中学习和掌握新的知识.所以,作为一名合
立定跳远是大学生身体素质测试的项目之一,它的技术动作由预摆、起跳、腾空、落地四个部分组成。它比较全面地反映了大学生的力量、速度、灵敏、柔韧、协调等综合素质。通过
This work deals with the investigation of the synergistic effect of bagasse ash with sisal-banana-kenaf-flax fibers reinforced epoxy composite for their flexura
To help walking,using assistive devices can be considered to reduce the loads caused by weight and to effectively decrease the propulsive forces.In this study,a
The effect of concurrent attendance of two inhibitors of bone degradation,namely Alendronate (Ald) sodium trihydrate and Strontium (Sr),on Calcium Phosphate Cem