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 are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pi...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf |
| _version_ | 1796992862554947584 |
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| author | Lezaini, - W. M., N. W. Addie Irawan, Hashim |
| author_facet | Lezaini, - W. M., N. W. Addie Irawan, Hashim |
| author_sort | Lezaini, - |
| collection | UMP |
| description | One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that have varied weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg motion speed control through impedance control approach with aim to increase energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increase the energy and velocity of leg motion due to increase in force on contact while maintaining shape of the leg motion. |
| first_indexed | 2024-03-06T12:25:54Z |
| format | Conference or Workshop Item |
| id | UMPir21994 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:25:54Z |
| publishDate | 2018 |
| record_format | dspace |
| spelling | UMPir219942020-09-07T08:59:18Z http://umpir.ump.edu.my/id/eprint/21994/ Impedance control approach in robot’s leg dragging velocity variations Lezaini, - W. M., N. W. 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 are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that have varied weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg motion speed control through impedance control approach with aim to increase energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increase the energy and velocity of leg motion due to increase in force on contact while maintaining shape of the leg motion. 2018-03 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf pdf en http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf Lezaini, - and W. M., N. W. and Addie Irawan, Hashim (2018) Impedance control approach in robot’s leg dragging velocity variations. In: The 4th International Conference on Control, Automation and Robotics (ICCAR 2018) , 20 - 23 Apr 2018 , Auckland, New Zealand. pp. 171-174.. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Lezaini, - W. M., N. W. 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/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf |
| work_keys_str_mv | AT lezaini impedancecontrolapproachinrobotslegdraggingvelocityvariations AT wmnw impedancecontrolapproachinrobotslegdraggingvelocityvariations AT addieirawanhashim impedancecontrolapproachinrobotslegdraggingvelocityvariations |