Force feedback control implementation for SMART non-linear actuator

被引：1
|
作者：
Montes, H [1 ]
Pedraza, L [1 ]
Armada, M [1 ]
Akinfiev, T [1 ]
机构：
[1] Ind Automat Inst, Control Dept, Madrid, Spain
来源：
CLIMBING AND WALKING ROBOTS | 2005年
关键词：
D O I：
10.1007/3-540-29461-9_62
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
SMART is a non-linear actuator used in the humanoid biped robot SILO2. This actuator has been developed by the Industrial Automation Institute in order to spend less energy without losing kinematic skills. This paper presents kinematic parameters of hip joint in the lateral plane and the place where the force sensing is realized. The output and input torque are calculated with the measurement of force in one rod of SMART and the motor current, respectively; and they are compared in order to know the performance of this joint. Force control in the hip lateral joint was carried out. By means of this control, compliance movement and detection of obstacles when the robot completes a gait can be realized. Additionally with this force control the biped robot stability in the lateral plane is improved.
引用
收藏
页码：625 / 631
页数：7
相关论文
共 50 条
  • [21] Adaptive composite non-linear feedback-based sliding mode control for non-linear systems
    Mollabashi, H. E.
    Mazinan, A. H.
    ELECTRONICS LETTERS, 2018, 54 (16) : 972 - 973
  • [22] Implementation of a smart sensor using a non-linear observer and fuzzy logic
    Benitez-Perez, H
    Thompson, HA
    Fleming, PJ
    UKACC INTERNATIONAL CONFERENCE ON CONTROL '98, VOLS I&II, 1998, : 1474 - 1479
  • [23] FEEDBACK AND NON-LINEAR DISTORTION
    JAKOBSCHUK, A
    PROCEEDINGS OF THE IEEE, 1981, 69 (10) : 1370 - 1370
  • [24] Disturbance attenuation control of active suspension with non-linear actuator dynamics
    Ma, M. -M.
    Chen, H.
    IET CONTROL THEORY AND APPLICATIONS, 2011, 5 (01): : 112 - 122
  • [25] TURBOALTERNATOR EXCITATION CONTROL INCORPORATING NON-LINEAR STATE FEEDBACK
    CHANA, GS
    DANIELS, AR
    PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON, 1978, 125 (11): : 1245 - 1246
  • [26] HARMONIC AMPLITUDE CONTROL IN LASER DIODES WITH NON-LINEAR FEEDBACK
    Yildirim, Remzi
    Celebi, Fatih V.
    JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, 2010, 25 (01): : 163 - 170
  • [27] Control of the Motion of Heating Sources of a Rod with Non-linear Feedback
    Aida-Zade, K. R.
    Hashimov, V. A.
    OPTIMIZATION AND APPLICATIONS, OPTIMA 2022, 2022, 13781 : 93 - 107
  • [28] On the output feedback stability for non-linear uncertain control systems
    Benabdallah, A
    Hammami, MA
    INTERNATIONAL JOURNAL OF CONTROL, 2001, 74 (06) : 547 - 551
  • [29] A robust non-linear feedback control strategy for a class of bioprocesses
    Coutinho, Daniel
    Wouwer, Alain Vande
    IET CONTROL THEORY AND APPLICATIONS, 2013, 7 (06): : 829 - 841
  • [30] LOW SENSITIVITY FEEDBACK CONTROL OF NON-LINEAR DISCRETE SYSTEMS
    CHIANG, SM
    SHIH, YP
    INTERNATIONAL JOURNAL OF CONTROL, 1971, 14 (04) : 659 - &
12345