NDLI: Leg compliance control of a hexapod robot based on improved adaptive control in different environments

Content Provider	Springer Nature Link
Author	Zhu, Ya guang Jin, Bo Li, Wei
Copyright Year	2015
Abstract	Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
Starting Page	904
Ending Page	913
Page Count	10
File Format	PDF
ISSN	20952899
Journal	Journal of Central South University of Technology
Volume Number	22
Issue Number	3
e-ISSN	22275223
Language	English
Publisher	Central South University
Publisher Date	2015-03-13
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	hexapod robot tip-point force adaptive control fuzzy control adaptability Engineering Metallic Materials
Content Type	Text
Resource Type	Article
Subject	Metals and Alloys Engineering

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