Impedance control approach in robot’s leg dragging velocity variations

One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pi...

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Main Authors:	Lezaini, -, W. M., N. W., Irawan, Addie
Format:	Conference or Workshop Item
Language:	English English
Published:	2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/21994/ http://umpir.ump.edu.my/id/eprint/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf

id	ump-21994
recordtype	eprints
spelling	ump-219942018-09-28T08:00:48Z http://umpir.ump.edu.my/id/eprint/21994/ Impedance control approach in robot’s leg dragging velocity variations Lezaini, - W. M., N. W. Irawan, Addie TK Electrical engineering. Electronics Nuclear engineering One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that have varied weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg motion speed control through impedance control approach with aim to increase energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increase the energy and velocity of leg motion due to increase in force on contact while maintaining shape of the leg motion. 2018-03 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf pdf en http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf Lezaini, - and W. M., N. W. and Irawan, Addie (2018) Impedance control approach in robot’s leg dragging velocity variations. In: The 4th International Conference on Control, Automation and Robotics (ICCAR 2018), 20 - 23 Apr 2018 , Auckland, New Zealand. pp. 171-174..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Lezaini, - W. M., N. W. Irawan, Addie Impedance control approach in robot’s leg dragging velocity variations
description	One of the challenging areas in developing bio-inspired legged robot is dynamic control, especially in environment interaction. Impedance control are widely used by researchers for dynamic interaction, but majority only focus on adapting uneven terrain structure. This idea may not be suitable for pick-and-place task robot that have varied weight due to its body weight and payload as well as locomotion on flat terrain. Thus, this paper presents leg motion speed control through impedance control approach with aim to increase energy of the legged robot especially during leg dragging based on force on contact. The results show that proposed controller is applicable since it increase the energy and velocity of leg motion due to increase in force on contact while maintaining shape of the leg motion.
format	Conference or Workshop Item
author	Lezaini, - W. M., N. W. Irawan, Addie
author_facet	Lezaini, - W. M., N. W. Irawan, Addie
author_sort	Lezaini, -
title	Impedance control approach in robot’s leg dragging velocity variations
title_short	Impedance control approach in robot’s leg dragging velocity variations
title_full	Impedance control approach in robot’s leg dragging velocity variations
title_fullStr	Impedance control approach in robot’s leg dragging velocity variations
title_full_unstemmed	Impedance control approach in robot’s leg dragging velocity variations
title_sort	impedance control approach in robot’s leg dragging velocity variations
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/21994/ http://umpir.ump.edu.my/id/eprint/21994/1/35.%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf http://umpir.ump.edu.my/id/eprint/21994/2/35.1%20Leg%20motion%20speed%20control%20using%20impedance%20control%20approach.pdf
first_indexed	2023-09-18T22:32:31Z
last_indexed	2023-09-18T22:32:31Z
_version_	1777416380388212736

Impedance control approach in robot’s leg dragging velocity variations

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