Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming par...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf |
| _version_ | 1796990578697699328 |
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| author | Addie Irawan, Hashim Hoe, Lih Jiun M. M., Alam |
| author_facet | Addie Irawan, Hashim Hoe, Lih Jiun M. M., Alam |
| author_sort | Addie Irawan, Hashim |
| collection | UMP |
| description | This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs. |
| first_indexed | 2024-03-06T11:53:37Z |
| format | Conference or Workshop Item |
| id | UMPir9220 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:53:37Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | UMPir92202020-09-07T08:41:02Z http://umpir.ump.edu.my/id/eprint/9220/ Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration Addie Irawan, Hashim Hoe, Lih Jiun M. M., Alam TK Electrical engineering. Electronics Nuclear engineering This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf Addie Irawan, Hashim and Hoe, Lih Jiun and M. M., Alam (2015) Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration. In: International Conference on Electrical and Computer Engineering (ICECE 2014) , 20-22 December 2014 , Dhaka. pp. 757-760.. http://dx.doi.org/10.1109/ICECE.2014.7026865 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Addie Irawan, Hashim Hoe, Lih Jiun M. M., Alam Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title | Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title_full | Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title_fullStr | Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title_full_unstemmed | Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title_short | Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration |
| title_sort | control input converter for robot s leg joint with parallel actuation configuration |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf |
| work_keys_str_mv | AT addieirawanhashim controlinputconverterforrobotslegjointwithparallelactuationconfiguration AT hoelihjiun controlinputconverterforrobotslegjointwithparallelactuationconfiguration AT mmalam controlinputconverterforrobotslegjointwithparallelactuationconfiguration |