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Stewart-Inspired Vibration Isolation Control for a Wheel-legged Robot via Variable Target Force Impedance Control

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Abstract

The vibration isolation control for wheel-legged robot has been widely investigated when adapting to the undulating slope terrain. How to solve the lag problem of low accuracy of foot-end force convergence to fixed target force in traditional impedance control under continuously changing slope terrain is the main challenge. In this paper, a vibration isolation control strategy based on variable target force impedance control (VTFIC) is proposed to effectively realize the foot-end contact force to track the target force under uneven road while maintaining the stability of the body. The strategy includes foot-end disturbance force estimator (FDFE) and force convergence accelerating controller (FCAC). Firstly, FDFE includes slope angle model, slope terrain model, autoregressive comprehensive moving average (ARIMA) model and event-triggering mechanism. It is mainly used to predict and calculate the disturbance force of slope terrain, and solve the problem of high deviation between foot-end actual force and target force caused by the impulse when foot contact with slope. Secondly, FCAC is designed based on power functional feed-forward control, to accelerate the convergence speed of the foot-end contact force to the target force. Finally, the simulation and experiment results show that the foot-end contact force of the robot can effectively track the target force with high accuracy and the robot remains stable under various terrains.

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Data Availability

The data that support the findings of this study are available from the corresponding author Prof. Zhihua Chen upon reasonable request.

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Funding

This work was supported by the National Key Research and Development Program of China under Grant 2019YFC1511401, the National Natural Science Foundation of China under Grant 61103038, and the National Natural Science Foundation of China under Grant 61103060.

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Authors and Affiliations

  1. State Key Laboratory of Complex System Intelligent Control and Decision, School of Automation, Beijing Institute of Technology, 100081, Beijing, China

    Junfeng Xue, Shoukun Wang, Junzheng Wang & Zhihua Chen

  2. MOE Key Lab of Nondestructive Testing Technology, School of Information Engineering, Nanchang Hangkong University, 330063, Nanchang, China

    Zhihua Chen

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  1. Junfeng Xue
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  2. Shoukun Wang
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Contributions

Junfeng Xue: Writing, Editing, Simulation, Experiment, Idea generation; Shoukun Wang: Supervision and Finalizing; Junzheng Wang: Reviewing and Supervision; Zhihua Chen: Writing, Editing;Experiment; All authors read and approved the final manuscript.

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Correspondence to Zhihua Chen.

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Xue, J., Wang, S., Wang, J. et al. Stewart-Inspired Vibration Isolation Control for a Wheel-legged Robot via Variable Target Force Impedance Control. J Intell Robot Syst 106, 61 (2022). https://doi.org/10.1007/s10846-022-01757-3

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