Dynamic Parameter Identification And Control of Legged Robots’ Legs Considering Joint Friction Characteristics
The increasing of motion speed and maneuverability of legged robots poses high level requirements for joint tracking accuracy. A large tracking error will incur foot-end’s deviation from the expected landing point, consequently leading to the robot’s instability and tip-over. The joints of legged ro...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails?columnId=73235479&Fpath=home&index=0 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | The increasing of motion speed and maneuverability of legged robots poses high level requirements for joint tracking accuracy. A large tracking error will incur foot-end’s deviation from the expected landing point, consequently leading to the robot’s instability and tip-over. The joints of legged robots often work in the conditions of low speed, small stroke and frequent direction switching. The presence of transmission friction has a strong nonlinear influence on the joint control. In this study, a segmented fitting model of joint friction is built based on the measured friction characteristics of joints under low-speed motion conditions, the joint friction and dynamic parameters of single leg of legged robots are identified. Base on the identification results, a feedforward-feedback control strategy is carried out. Experiments on a heavy-duty quadruped robot indicate that the prediction error of joint torques utilizing the proposed method is reduced by about 40%, and the trajectory tracking accuracy is improved by more than 60%, comparing to those obtained by the existing identification and control method based on linear friction model. |
|---|---|
| ISSN: | 1004-2539 |