Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU
For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyz...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2017-10-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/7/10/1035 |