Verification of compliance control for a soft robot

Nobuto Yoshimura, Kenji Ogawa, Kouhei Ohnishi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ476-481
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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