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High‑accuracy Impedance Compound Control of the Actuator for Periodic Gait of Legged Robots

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Abstract

Hydraulic driven legged robots have the advantage of large load capacity and strong environmental adaptability, which has a wide range of prospects for military and civilian applications. And its joint is driven by hydraulic actuator, which is structured as a valve-controlled cylinder and is called hydraulic drive unit (HDU). The control accuracy of the HDU affects the control performance of the robot. And it is difficult for a single control method to meet the requirements of high accuracy control of robot joints. Therefore, in order to meet the requirements for high-accuracy periodic gait of legged robots, an impedance compound control of the HDU is designed based on the authors' previous research of state feedback control (SFC). Firstly, according to the characteristics of the periodic signal, the system error is analyzed, and plug-in repetitive control (PIRC) is designed. Secondly, considering the influence of load force on control accuracy, a model-based feedforward disturbance rejection control (FDRC) is designed. Finally, a high-accuracy impedance compound control of the HDU combined the SFC, PIRC and FDRC is formed and the control structure is also designed. The experimental results show that both PIRC and FDRC can improve the control accuracy of the HDU, and PIRC has better control effect. The reduction rates of the maximum error and mean square error are all more than 80%.

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Some or all data, models, or code generated or used during the study are available from the corresponding author by request.

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Funding

This work was supported by Project funded by China Postdoctoral Science Foundation (Grant No.2022M722737), National Natural Science Foundation of China (52122503, 51975506) and Natural Science Foundation of Hebei Province (E2022203002).

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Authors and Affiliations

  1. School of Mechanical Engineering, Zhejiang University, Hangzhou, 310012, China

    Qixin Zhu, Junhui Zhang & Huaizhi Zong

  2. School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Qixin Zhu, Bin Yu, Xinjie Li, Kaixian Ba & Xiangdong Kong

Authors
  1. Qixin Zhu
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  2. Bin Yu
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  3. Xinjie Li
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  4. Junhui Zhang
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  5. Huaizhi Zong
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  6. Kaixian Ba
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  7. Xiangdong Kong
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by [Bin Yu], [Xinjie Li], [Junhui Zhang], [Huaizhi Zong], [Kaixian Ba] and [Xiangdong Kong]. The first draft of the manuscript was written by [Qixin Zhu] and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Kaixian Ba.

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Zhu, Q., Yu, B., Li, X. et al. High‑accuracy Impedance Compound Control of the Actuator for Periodic Gait of Legged Robots. J Intell Robot Syst 108, 3 (2023). https://doi.org/10.1007/s10846-023-01845-y

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