Impedance Control Approach on Leg Motion Speed Variation on Soft Surface Interaction
Keywords:Energy, Impedance Control, Legged Robot, Mobile Robot, Speed Variation of Motion.
This article presents the leg speed variation control using impedance control approach on soft surface displacement motion. One of the challenging fields of designing a legged robot that can be equipped with adaptation ability is it dynamic control which majorly involved in interaction with the environment. Numerous researchers have been widely implemented impedance control as dynamic interaction but less emphasized in adapting soft terrain. Most of the impedance control implementation on the legged robot on rough terrain emphasized on position changes, and it may not practical for legged robot navigate on the soft terrain. Soft terrain contains different ground stiffness and medium viscosities. Thus, this study has taken the initiative to propose a speed variation control on a robotâ€™s leg by using a force-based impedance control approach to increase the leg energy exchanges specifically on foot placement. The proposed control was validated in actual robotâ€™s leg, and performances show that the energy in the leg increases as the velocity of leg motion increase due to increase in force feedback while maintaining the shape of the leg motion.
 Nonami K, Barai RK, Irawan A, & Daud MR (2014), Hydraulically Actuated Hexapod Robots: Design, Implementation and Control, Springer Netherlands.
 Kitano S, Hirose S, Horigome A, & Endo G (2016), "TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking," ROBOMECH Journal, vol. 3, p. 8.
 Park JY, Shim H, Jun BH, Lee PM, Yoo SY, & Baek H (2017), "Measurement of hydrodynamic forces and moment acting on Crabster, CR200 using model tests," 2017 IEEE Underwater Technology (UT), pp. 1-5.
 Boaventura T, Buchli J, Semini C, & Caldwell DG (2015), "Model-Based Hydraulic Impedance Control for Dynamic Robots," IEEE Transactions on Robotics, vol. 31, pp. 1324-1336.
 Komati B, Pac MR, Ranatunga I, ClÃ©vy C, Popa DO, & Lutz P (2013), "Explicit force control vs impedance control for micromanipulation," ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. V001T09A018-V001T09A018.
 Qin M, Xiao N, Guo S, Guo P, & Wang Y (2015), "A proximal push force-based force feedback algorithm for robot-assisted vascular intervention surgery," Mechatronics and Automation (ICMA), 2015 IEEE International Conference, pp. 738-742.
 Guo S, Wang P, Guo J, Wei W, Ji Y, & Wang Y (2013), "A novel master-slave robotic catheter system for Vascular Interventional Surgery," Mechatronics and Automation (ICMA), 2013 IEEE International Conference, pp. 951-956.
 Vukobratovic M (2009), Dynamics and robust control of robot-environment interaction vol. 2: World Scientific.
 Zhu YG (2014), "Research on leg compliance of multilegged walking robot based on impedance control," PhD, Zhejiang University.
 Ke X (2017), Active/Passive Compliance Control for a Hydraulic Quadruped Robot Based on Force Feedback vol. 53.
 Buchli J, Kalakrishnan M, Mistry M, Pastor P, & Schaal S (2009), "Compliant quadruped locomotion over rough terrain," Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference, pp. 814-820.
 Focchi M, Medrano-Cerda GA, Boaventura T, Frigerio M, Semini C, Buchli J, et al. (2016), "Robot impedance control and passivity analysis with inner torque and velocity feedback loops," Control Theory and Technology, vol. 14, pp. 97-112.
 Hyun DJ, Seok S, Lee J, & Kim S (2014), "High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah," The International Journal of Robotics Research, vol. 33, pp. 1417-1445.
 Irawan A, Nonami K, & Daud MR (2013), "Optimal Impedance Control with TSK-Type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot," Autonomous Control Systems and Vehicles: Intelligent Unmanned Systems, Eds., ed Tokyo: Springer Japan, pp. 223-236.
 Bjelonic M, Kottege N, & Beckerle P (2016), "Proprioceptive control of an over-actuated hexapod robot in unstructured terrain," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2042-2049.
 Irawan A & Tumari MZ (2014), "Hexa-Quad Robot with Prismatic Body Configuration and Leg-to-Arm Transformation," Malaysia Patent.
 Lezaini W, Irawan A, Razali A, & Adom A (2017), "Hybrid antiwindup-fuzzy logic control for an underactuated robot leg precision motion," Robotics and Manufacturing Automation (ROMA), 2017 IEEE 3rd International Symposium, pp. 1-6.
 Hogan N (1984), "Impedance control: An approach to manipulation," American Control Conference, pp. 304-313.
View Full Article:
How to Cite
LicenseAuthors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under aÂ Creative Commons Attribution Licensethat allows others to share the work with an acknowledgement of the work''s authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal''s published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (SeeÂ The Effect of Open Access).