Force Sensing for Multi-legged Walking Robots: Theory and Experiments – Part 2: Force Control of Legged Vehicles

1.1 Main approaches and principles of force control Approaches to manipulator control using force information can be subdivided into two major groups. The first group uses logic branching of the control when the measured force satisfies certain conditions. The second group introduces continuous force feedback as an explicit force control or active force feedback method. The basic approaches to force feedback control that are already used or can be applied to walking robot motion control are discussed in many studies (Raibert & Craig, 1981; Gorinevsky et al., 1997; Gurfinkel et al., 1982, 1984; Mason & Salisbury, 1985; De Schutter, 1986, De Schutter & Brussel, 1988) and papers. Whitney (Whitney, 1977, 1987) was a pioneer of force control. Stiffness control (Raibert& Craig, 1981). The simplest method of stiffness control is linear force feedback of the form: