Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2951830
Abstract: A hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulic actuated quadruped robots, aiming to solve the response discrepancy of the low-bandwidth servo valve to impact forces between robot’s feet and the ground.… read more here.
Keywords: control; compliance; compliance control; servo ... See more keywords
Compliance Control and Analysis for Equivalent Hydraulic Legs
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3015333
Abstract: In this article, the compliant behavior of an equivalent hydraulic leg is achieved by combining active compliance control of hydraulic cylinder with a passive spring at its end effector. Firstly, a position-based active compliance control… read more here.
Keywords: control; control analysis; analysis equivalent; compliance control ... See more keywords
Spatiotemporal Compliance Control for a Wearable Lower Limb Rehabilitation Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Biomedical Engineering"
DOI: 10.1109/tbme.2022.3230784
Abstract: Compliance control is crucial for physical human–robot interaction, which can enhance the safety and comfort of robot-assisted rehabilitation. In this study, we designed a spatiotemporal compliance control strategy for a new self-designed wearable lower limb… read more here.
Keywords: spatiotemporal compliance; compliance; control; rehabilitation ... See more keywords
Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation
Sign Up to like & getrecommendations! Published in 2020 at "Applied Sciences"
DOI: 10.3390/app10041431
Abstract: Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself… read more here.
Keywords: control; control slave; telemanipulation; emg signal ... See more keywords
Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation
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DOI: 10.5937/fmet1704475p
Abstract: This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is… read more here.
Keywords: configuration based; part; control; robot ... See more keywords