首页|Study Data from Zhejiang University Provide New Insights into Robotics (High Dyn amic Position Control for a Typical Hydraulic Quadruped Robot Leg Based On Virtu al Decomposition Control)
Study Data from Zhejiang University Provide New Insights into Robotics (High Dyn amic Position Control for a Typical Hydraulic Quadruped Robot Leg Based On Virtu al Decomposition Control)
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Research findings on Robotics are disc ussed in a new report. According to news reporting from Hangzhou, People's Repub lic of China, by NewsRx journalists, research stated, "The dynamics of hydraulic robots are complicated due to the closed-chain joints formed by cylinder articu lation. This article is focused on presenting a model-based control framework fo r rapid locomotion, integrating closed-chain dynamics without a substantial incr ease in computational costs." Financial supporters for this research include National Natural Science Foundati on of China (NSFC), Key Research and Development Program of Zhejiang Province. The news correspondents obtained a quote from the research from Zhejiang Univers ity, "The virtual decomposition control (VDC) approach has been adapted and inno vatively extended to a leg system for the first time, featuring a floating base and variable contact constraints. In this article, a position control framework is proposed, consisting of three VDC-based controllers designed specifically for the stance phase and the swing phase, respectively. During the stance phase, a constrained estimation model is developed to recursively compute the previously incalculable dynamic equations. Furthermore, the control laws are designed to en sure that the virtual power flows caused by contact constraints do not affect th e stability. In the swing phase, a noninertial frame is established to transform the underactuated system into a fully actuated fixed-base system. Despite being position controlled, our framework enables the leg system to generate complianc e by setting a separate low-gain VDC-based controller during the landing stage. Experiments reveal that the proposed framework exhibits better position trajecto ry tracking performance and jumping ability in highly dynamic motion compared wi th the state-of-the-art position controller."
HangzhouPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsZhejiang Universit y
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