Abstract
In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.
Highlights
In industrial applications of robot technology, several strategies of force control have been employed
The dynamic impedances are specified in the control algorithm for the legs to interact with the soil according to the desired behaviour. Another force control strategy presented in this paper is the parallel position/force control implemented in the ROBOCLIMBER
For the development of consolidation works on uneven mountains, ROBOCLIMBER must be hung up by two steel ropes secured at the top of the mountain and two special hydraulically driven devices called rope tensioning appliances installed at the front of the robot to pull itself up
Summary
In industrial applications of robot technology, several strategies of force control have been employed. The gait of legged robots features the opening and closing by themselves of several kinematic chains on the terrain, allowing multiple foot-ground contacts along their displacement [30, 33], which result in changeable patterns of reaction forces that determine robot stability For this reason, several studies have been carried out on the force control applied in walking robots, using various types of force/torque sensors according to the applications performed. The dynamic impedances are specified in the control algorithm for the legs to interact with the soil according to the desired behaviour Another force control strategy presented in this paper is the parallel position/force control implemented in the ROBOCLIMBER.
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