Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control
In this paper, the dynamic compliance analysis for force-based impedance control is studied. First, the mathematical model of legged robot joint hydraulic driver, called hydraulic drive unit (HDU), is built. Then the force-based impedance control model of the leg hydraulic drive system (LHDS) is bui...
| 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/8502181/ |