Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration

This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming par...

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Main Authors:	Irawan, Addie, Hoe, Lih Jiun, M. M., Alam
Format:	Conference or Workshop Item
Language:	English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/9220/ http://umpir.ump.edu.my/id/eprint/9220/ http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf

id	ump-9220
recordtype	eprints
spelling	ump-92202018-08-28T06:37:44Z http://umpir.ump.edu.my/id/eprint/9220/ Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration Irawan, Addie Hoe, Lih Jiun M. M., Alam TK Electrical engineering. Electronics Nuclear engineering This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf Irawan, Addie and Hoe, Lih Jiun and M. M., Alam (2015) Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration. In: International Conference on Electrical and Computer Engineering (ICECE 2014), 20-22 December 2014 , Dhaka. pp. 757-760.. http://dx.doi.org/10.1109/ICECE.2014.7026865
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Irawan, Addie Hoe, Lih Jiun M. M., Alam Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
description	This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs.
format	Conference or Workshop Item
author	Irawan, Addie Hoe, Lih Jiun M. M., Alam
author_facet	Irawan, Addie Hoe, Lih Jiun M. M., Alam
author_sort	Irawan, Addie
title	Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
title_short	Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
title_full	Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
title_fullStr	Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
title_full_unstemmed	Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration
title_sort	control input converter for robot’s leg joint with parallel actuation configuration
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/9220/ http://umpir.ump.edu.my/id/eprint/9220/ http://umpir.ump.edu.my/id/eprint/9220/1/fkee-2014-addie-Control%20input%20converter.pdf
first_indexed	2023-09-18T22:07:34Z
last_indexed	2023-09-18T22:07:34Z
_version_	1777414810621706240

Control Input Converter for Robot’s Leg Joint with Parallel Actuation Configuration

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