Adaptive Impedance Control with Compliant Body Balance for Hydraulically Driven Hexapod Robot-Reference-Cited by-同舟云学术

Adaptive Impedance Control with Compliant Body Balance for Hydraulically Driven Hexapod Robot

Published:2011 Issue:5 Volume:5 Page:893-908
ISSN:1881-3046
Container-title:Journal of System Design and Dynamics
language:en
Short-container-title:JSDD

Author:

IRAWAN Addie¹,NONAMI Kenzo²,OHROKU Hiroshi¹,AKUTSU Yasunaga¹,IMAMURA Shota¹

Affiliation:

1. Graduate School of Engineering, Division of Artificial Systems Science, Chiba University

2. Department of Mechanical Engineering, Division of Artificial Systems Science, Chiba University

Publisher

Japan Society of Mechanical Engineers

Link

http://www.jstage.jst.go.jp/article/jsdd/5/5/5_5_893/_pdf

Reference14 articles.

1. (1) Oku, M., Yang, H., Paio, G., Harada, Y., Adachi, K., Barai, R., Sakai, S., Nonami, K. Development of Hydraulically Actuated Hexapod Robot COMET-IV -The 1st Report:System Design and Configuration. Proceedings of the 2007 JSME Conference on Robotics and Mechatronics, 2A2-G01, 2007.

2. (2) Irawan, A., Akutsu, Y., Nonami, K. Force-based Walking with Impedance Control for Hydraulic Driven Hexapod Robot. Proceeding of CLAWAR'2010: 13^th International Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya, Japan, 66-72, 2010.

3. (3) Ohroku, H., Irawan, A., Nonami, K. A 3D modeling for Hydraulic-drive Hexapod Walking Robot using 3D Geometric Technique with distributed Numerical Model. ICGST-ARAS Journal, 9(1),31-39, 2009.

4. (4) Hogan, N. Stable execution of contact tasks using impedance control. Robotics and Automation. Proceedings. 1987 IEEE International Conference. Vol.(4),1047-1054, 1987.

5. (5) Siciliano, B., Villani, L. Robot Force Control.(Kluwer Academic Publishers, 1999).

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