Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control

This paper presents a trajectory generator and an active compliance control scheme, unified in a framework to synthesize dynamic, feasible and compliant trot-walking locomotion cycles for a stiff-by-nature hydraulically actuated quadruped robot. At the outset, a CoP-based trajectory generator that is constructed using an analytical solution is implemented to obtain feasible and dynamically bala...

A Compliant Control Architecture for the Hydraulic Quadruped - HyQ

Learning Compliant Locomotion on a Quadruped Robot

Over the last decades, compliant locomotion and manipulation have become a very active field of research, due to the versatility that robots with such capabilities would offer in many applications. With very few exceptions, generally, robotic applications and experiments take place in controlled environments. One of the reasons of this limited use is that in real world scenarios, robots need to...

Compliant Robot Behavior Using Servo Actuator Models Identified by Iterative Learning Control

System parameter identification is a necessary prerequisite for model-based control. In this paper, we propose an approach to estimate model parameters of robot servo actuators that does not require special testing equipment. We use Iterative Learning Control to determine the motor commands needed to follow a reference trajectory. To identify parameters, we fit a model for DC motors and frictio...

Passive compliance for a RC servo-controlled bouncing robot

A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments and force data are obtained from a Lagrangian analysis of the system. ...