Joint space position/torque hybrid control of the quadruped robot for locomotion and push reaction = 사족보행 로봇의 보행 및 밀기 외란 대응을 위한 관절 공간에서의 위치/토크 하이브리드 제어

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This thesis proposes an algorithm for Joint space position/torque hybrid control of a mammal-type quadruped robot, and presents experiments to verify its performance. With this control algorithm, the robot could conduct both locomotion and push reaction without fully torque controlled. Based on the natural friction dynamics of the legged robot, we showed that reaction to a typical push in horizontal direction does not require full force control in the frontal plane. Furthermore, the joint configuration of the mammal-type quadruped robot makes position/force hybrid control in Cartesian space can be directly corresponded to Joint space position/torque hybrid control. We conducted experiments to show that this approach is effective to stabilize the robot while it is walking and being disturbed by push. From the result, we can conclude that the mammal type quadruped can be designed without torque controllability of Hip roll joints, which can have much more joint design option, while locomotion and push reaction capability of total system is remained.
Advisors
Oh, Jun-Horesearcher오준호researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2019
Identifier
325007
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학과, 2019.8,[v, 61 p. :]

Keywords

Quadruped walking▼ahybrid control▼afull body inverse dynamics control▼atorque control▼ahigh gear ratio position control▼apreview control; 사족보행▼a하이브리드 제어▼a전신 역동역학 제어▼a토크 제어▼a고감속비 위치 제어▼a프리뷰 제어

URI
http://hdl.handle.net/10203/282848
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=871292&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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