A Novel Position-Based Impedance Control Method for Bionic Legged Robots’ HDU
In this paper, a novel impedance control method is designed for the hydraulic drive unit (HDU) equipped on the hydraulic driven legged robot. First, the position control mathematical model of HDU is built. Next, the HDU performance test platform is introduced and the performance requirements are giv...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8468170/ |