Adaptive Impedance Control Applied to a Pneumatic Legged Robot View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

1997-09

AUTHORS

Costas S. Tzafestas, Nacer K. M’Sirdi, N. Manamani

ABSTRACT

An adaptive impedance control scheme with estimation of robot andenvironment parameters is proposed in this paper. It consists of two stagesof adaptation and control. The first one performs an on-line estimation ofthe robot inertial parameters, during the complete (constrained or not)motion of the leg, while the second one compensates for the uncertainties onthe characteristics of the ground (position and stiffness). Simulationresults obtained for a single leg of a pneumatic driven, quadruped robotshow the effectiveness of the proposed control scheme in case ofconsiderable uncertainty both in the robot and ground parameters. More... »

PAGES

105-129

Identifiers

URI

http://scigraph.springernature.com/pub.10.1023/a:1007987608963

DOI

http://dx.doi.org/10.1023/a:1007987608963

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1033711307


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