首页|Researchers' from Zhejiang University Report Details of New Studies and Findings in the Area of Robotics (Active Disturbance Rejection Control of Hydraulic Quad ruped Robots Rotary Joints for Improved Impact Resistance)
Researchers' from Zhejiang University Report Details of New Studies and Findings in the Area of Robotics (Active Disturbance Rejection Control of Hydraulic Quad ruped Robots Rotary Joints for Improved Impact Resistance)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on ro botics. According to news reporting from Zhejiang University by NewsRx journalis ts, research stated, "Hydraulic actuated quadruped robots have bright applicatio n prospects and significant research values in unmanned area investigation, disa ster rescue and other scenarios, due to the advantages of high payload and high power to weight ratio." Funders for this research include National Natural Science Foundation of China; Postdoctoral Research Foundation of China; Key Research And Development Program of Zhejiang Province. The news correspondents obtained a quote from the research from Zhejiang Univers ity: "Among these fields, inevitable collision of robots may occur when contact with unknown objects, step on empty objects, or collapse, all of which have an i mpact on the working hydraulic system. To overcome the unknown external disturba nces, this paper proposes an active disturbance rejection control (ADRC) strateg y of double vane hydraulic rotary actuators for the hip joints of the quadruped robots. Considering the order of the valve-controlled actuator model, a three-st age tracking differentiator, a four-stage extended state observer, and a state e rror feedback controller are designed relatively, and the extended state observe r is adopted to observe and compensate the uncertainty of external load torque o f the system. The effectiveness of the ADRC method is verified in simulation env ironment and a single joint experimental platform."
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