Fractional-Order Virtual Model Control for Single Leg of Hydraulic Quadruped Robot

被引：0
|
作者：
Zhao J. [1 ]
Gong S. [1 ]
Ma S. [1 ]
Wang J. [1 ]
机构：
[1] Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing
来源：
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2022年 / 42卷 / 03期
关键词：
Fractional calculus; Hydraulic quadruped robot; Virtual mode control(VMC);
D O I：
10.15918/j.tbit1001-0645.2020.007
中图分类号：
学科分类号：
摘要：
As the most widely-used method for motion control of quadruped robot, virtual mode control (VMC)can achieve compliant interaction between foot and ground at the cost of trajectory tracking precision. A fractional-order VMC (FOVMC) was proposed to improve the robustness and precision of VMC for single-leg tracking of hydraulic quadruped robot. And the implementation detail about the frequency domain modeling process of force control system for hydraulic-cylinder-driven joints and optimization-based FOVMC parameter tuning method were provided. Some trotting experiments were carried out on a quadruped robot platform to validate that the superiority of FOVMC over classical VMC in performance improvement of single-leg motion control. Copyright ©2022 Transaction of Beijing Institute of Technology. All rights reserved.
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收藏
页码：304 / 311
页数：7
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