Verification of compliance control for a soft robot

Nobuto Yoshimura, Kenji Ogawa, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic locomotion. We verify the other approach of compliance control which is different from conventional control method. In conventional method, force gain is changed to control the stiffness, yet this method is not suitable from the efficiency point of view. This paper mentions also the stability of compliance controller. In the proposed approach, it is shown that virtual stiffness and damping should be designed respectively. The validity of the proposed method is shown by experimental results.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages476-481
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • compliance control
  • legged robot
  • motion control
  • robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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