2B17 Adaptive Impedance Control with Compliant Body Balance for Hydraulic-actuated Hexapod Robot

摘要

This article described on implementation of self-tuning impedance control with adaptive element from environment identification to provide compliant body balance for hydraulic-actuated hexapod robot. With force-based walking control, this impedance control is applied to provide stable final stepping during walking phases by adapted the environment stiffness and force applied. Proposed self-tuning impedance control is designed with variable stiffness tuning method using time division method and exponential time reduction. The case of study is focused on walking on the soft terrain which is crucial part for this robot. The propose controller is verified with walking experiments on several layers of square rubber plate to represent soft terrain such as wet ground.