Abstract
Impedance control should be generally applied for most robot when contacts some environment to achieve “softness of contact” between the end-effector of robot and the environment. This chapter proposes several algorithms such as impedance control implementation for hexapod robot COMET-IV. Also, in the case of heavyweight and large-scale-structured robot, inclinometers from attitude angles should be designed to control the long-term attitudes of the body, not to prevent shaking caused by changes in support of the legs. Moreover, this shaking is considered as a natural scenario since the robot is using hydraulic system and automotive engine. Therefore, only attitude errors that are over the acceptable limit will be included in the adaptive calculation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Palis F, Rusin V (2004) Adaptive impedance control of legged robot. Paper presented at the proceeding of 11th international conference on power electronics and motion control, Riga
Erickson D, Weber M, Sharf I (2003) Contact stiffness and damping estimation for robotic systems. Int J Robotics Res 22(1)
Lehtinen H (1994) Force based motion control of a walking machine. VTT Publication, Espoo
Irawan A, Nonami K (2011) Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain. J Field Robotics 28(5):690–713
Futagami K, Harada Y, Oku M, Ohroku H, Lin X, Okawa K, Sakai S, Nonami K (2008) Real-time navigation and control of hydraulically actuated hexapod robot COMET-IV. In: Proceeding of the 9th international conference on motion and vibration control 2008 (MOVIC 2008), Munich, 2008
Ohroku H, Futagami K, Harada Y, Oku M, Nonami K (2008) Tele-operation and navigation of hexapod robot COMET-IV with real-time gait and trajectory planning. In: 9th international conference on motion and vibration control 2008 (MOVIC 2008), Munich, 2008
Oku M, Koseki H, Ohroku H, Harada Y, Futagami K, Tran DC, Li L, Lin X, Sakai S, Nonami K (2008) Rough terrain locomotion control of hydraulically actuated hexapod robot COMET-IV (in Japanese). In: JSME conference on robotics and mechatronics 2008 (ROBOMEC 2008), Nagano, 2008
Hespanha JP (2005) Lecture notes on LQR/LQG controller design
Terashima K, Miyoshi T, Mouri K, Kitagawa H, Minyong P (2009) Hybrid impedance control of massage considering dynamic interaction of human and robot collaboration systems. J Robotics Mechatronics 21(1)
Jung S, Hsia TC, Bonitz RG (2001) Force tracking impedance control for robot manipulators with an unknown environment: theory, simulation, and experiment. Int J Robotics Res 20(9):765–774
Kikuuwe R, Yoshikawa T (2002) Robot perception of environment impedance. In: Proceeding of IEEE international conference of robotics and automation 2002 (ICRA 2002), Kyoto, pp 1661–1666
Barai R, Nonami K (2007) Optimal two-degree-of-freedom fuzzy control for locomotion control of a hydraulically actuated hexapod robot. Info Sci Appl 117(8):1892–1915
Irawan A, Nonami K, Ohroku H, Akutsu Y, Imamura S (2011) Adaptive impedance control with compliant body balance for hydraulically driven hexapod robot. J Syst Des Dyn 5(5):893–908, Special issue of motion and vibration control 2010
Takagi T, Sugeno M (1985) Fuzzy identification of systems and its applications to modeling and control. IEEE Trans Syst Man Cybernatics 15(1):116–132
Cox E, O'Hagan M (1999) The fuzzy systems handbook: a practitioner's guide to building, using, and maintaining fuzzy systems, 2nd edn. Academic, Cambridge
Sugeno M, Kang GT (1988) Structure identification of fuzzy model. Fuzzy Set Syst 28:15–33
Castillo O, Melin P (2008) Type-2 fuzzy logic theory and applications. Springer, Berlin
Vasickaninova A, Bakasova M (2010) Locally optimal fuzzy control of a heat exchanger. WSEAS Trans Syst 9(9):999–1008
Daud MR, Nonami K (2011) LRF assisted force-based walking for hexapod robot COMET-IV. Int J Automation Robotics Autonomous Syst (ARAS) 11(1):11–22
Daud MR, Nonami K, Irawan A (2011) LRF assisted autonomous walking in rough terrain for hexapod robot COMET-IV. In: Proceeding of the international conference on intelligent unmanned systems 2011 (ICIUS 2011), Chiba, 2011
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer Japan
About this chapter
Cite this chapter
Nonami, K., Barai, R.K., Irawan, A., Daud, M.R. (2014). Impedance Control and Its Adaptive for Hexapod Robot. In: Hydraulically Actuated Hexapod Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 66. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54349-7_7
Download citation
DOI: https://doi.org/10.1007/978-4-431-54349-7_7
Published:
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-54348-0
Online ISBN: 978-4-431-54349-7
eBook Packages: EngineeringEngineering (R0)