Abstract
For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions.
Highlights
Bionic legged robots are better at adapting to unknown and unstructured environments.Their unique advantages, such as overcoming obstacles and executing tasks in the wild, have made them a major focus of research in the robotic domain [1,2,3,4]
During the robotic motion process, the robotic feet interact with the ground frequently. This means that the demand for hydraulic drive unit (HDU) includes characteristics of response ability and high control accuracy, and dynamic compliance
In the position-based impedance control system, the above achievements adopted first-order and second-order sensitivity analysis methods to study the effect on control characteristics when parameters change
Summary
Bionic legged robots are better at adapting to unknown and unstructured environments. The effect of parameter variation on system dynamic characteristics can be quantificationally analyzed, and the analysis results can be used to optimize the robot’s compliance performance. Sensitivity analysis is used to analyze the effect of parameter variation on system characteristics for both linear and nonlinear systems. Built a fifth-order linear mathematical model for the position-based control system, and studied the effect on system output when 14 system parameters changed by 1%. Based on the first-order trajectory sensitivity, Kong et al [16] deduced the method of second-order trajectory sensitivity and analyzed the effect on system output when 14 system parameters changed from 1% to 20%. In the position-based impedance control system, the above achievements adopted first-order and second-order sensitivity analysis methods to study the effect on control characteristics when parameters change.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
