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Leg compliance control of a hexapod robot based on improved adaptive control in different environments

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Abstract

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Ya-guang Zhu  (朱雅光), Bo Jin  (金波) & Wei Li  (李伟)

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  1. Ya-guang Zhu  (朱雅光)
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  2. Bo Jin  (金波)
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  3. Wei Li  (李伟)
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Corresponding author

Correspondence to Bo Jin  (金波).

Additional information

Foundation item: Project(51221004) supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China; Project(2010R50036) supported by the Program for Zhejiang Leading Team of S&T Innovation, China

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Zhu, Yg., Jin, B. & Li, W. Leg compliance control of a hexapod robot based on improved adaptive control in different environments. J. Cent. South Univ. 22, 904–913 (2015). https://doi.org/10.1007/s11771-015-2600-0

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  • DOI: https://doi.org/10.1007/s11771-015-2600-0

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