Active impedance control based adaptive locomotion for a bionic hexapod robot

IF 4.2 2区 计算机科学 Q2 ROBOTICS
Yaguang Zhu, Chunchao Liu, Pengfei Yuan, Dong Li
{"title":"Active impedance control based adaptive locomotion for a bionic hexapod robot","authors":"Yaguang Zhu,&nbsp;Chunchao Liu,&nbsp;Pengfei Yuan,&nbsp;Dong Li","doi":"10.1002/rob.22412","DOIUrl":null,"url":null,"abstract":"<p>In recent years, with the continuous development of human exploration of the natural world, there has been a growing demand across various fields for robots capable of free movement in diverse environments. In this study, we address the issue of compliant control for a hexapod robot in diverse environments and propose a novel control method based on an adaptive impedance model for position control. Our approach enables the hexapod robot to stabilize foot force on complex terrains while preserving balance and body height. Specifically, we analyze the algorithm's parameters and stability by establishing the hexapod robot's structural and impedance control models. To tackle this challenge, we introduce an adaptive impedance control algorithm that estimates environmental parameters using Lyapunov's asymptotic stability theorem and achieves tracking of actual foot-end forces to desired foot forces. Furthermore, to ensure body stability and height, we incorporate attitude feedback and body feedback. Experimental results from foot force control experiments conducted on a multilegged robot demonstrate that our proposed algorithm enhances the adaptability and robustness of the robot. This research holds significant implications for the stable control of hexapod robots in complex environments and has promising practical applications.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 1","pages":"327-345"},"PeriodicalIF":4.2000,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22412","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

Abstract

In recent years, with the continuous development of human exploration of the natural world, there has been a growing demand across various fields for robots capable of free movement in diverse environments. In this study, we address the issue of compliant control for a hexapod robot in diverse environments and propose a novel control method based on an adaptive impedance model for position control. Our approach enables the hexapod robot to stabilize foot force on complex terrains while preserving balance and body height. Specifically, we analyze the algorithm's parameters and stability by establishing the hexapod robot's structural and impedance control models. To tackle this challenge, we introduce an adaptive impedance control algorithm that estimates environmental parameters using Lyapunov's asymptotic stability theorem and achieves tracking of actual foot-end forces to desired foot forces. Furthermore, to ensure body stability and height, we incorporate attitude feedback and body feedback. Experimental results from foot force control experiments conducted on a multilegged robot demonstrate that our proposed algorithm enhances the adaptability and robustness of the robot. This research holds significant implications for the stable control of hexapod robots in complex environments and has promising practical applications.

基于主动阻抗控制的仿生六足机器人自适应运动
近年来,随着人类对自然界探索的不断发展,各个领域对能够在不同环境中自由移动的机器人的需求日益增长。在本研究中,我们针对六足机器人在不同环境中的顺应性控制问题,提出了一种基于自适应阻抗模型的新型位置控制方法。我们的方法可使六足机器人在复杂地形上稳定脚部力量,同时保持平衡和身体高度。具体来说,我们通过建立六足机器人的结构和阻抗控制模型来分析算法的参数和稳定性。为了应对这一挑战,我们引入了一种自适应阻抗控制算法,该算法利用 Lyapunov 的渐近稳定性定理来估计环境参数,并实现实际脚端力与期望脚端力的跟踪。此外,为了确保身体的稳定性和高度,我们还结合了姿态反馈和身体反馈。在多足机器人上进行的脚力控制实验结果表明,我们提出的算法增强了机器人的适应性和鲁棒性。这项研究对六足机器人在复杂环境中的稳定控制具有重要意义,并具有广阔的实际应用前景。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信