Open document
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General information |
| Author |
Zhang, Taihui; Wei, Qing; Ma, Hongxu |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
For a quadruped robot, to make full use of the
sensors, especially the force sensor installed on the foot
and adapt to the environment well, a kind of
position/force control method is proposed in this paper.
A quadruped mobile robot single leg model is established
in this paper and its dynamic equation in a joint space is
deduced by using the Lagrange equation. Then the model
is transformed in the joint space into an operation space,
based on the operation space coordinates, via kinematic
relations. Next the new position/force control law on the
base of the operation space dynamic equation is
designed. In the end, the controller in the MatLab
simulation environment is tested. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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