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Open Access item Impedance control of an agile-locomotion robotic leg

Authors:Arévalo, J. C.
Pestana, J.
Sánchez, F.
Sarria, Javier F.
García Armada, Elena
Keywords:Agile locomotion, Series elastic actuators, Impedance control
Issue Date:2010
Publisher:World Scientific Publishing
Citation:Emerging trends in mobile robotics: Proceedings of the 13th International Conference of Climbing and Walking Robots and the support Technologies for Mobile Machines
Series/Report no.:CLAWAR
Abstract:The success of an interaction control scheme is tightly related to the capacity of the actuators to follow the force references as much accurately as possible. The use of conventional actuators, usually modest at force control, lead to a inadequate performance of the interaction control system. This paper presents a leg prototype designed and developed for achieving agile locomotion. In the design, the selection of the proper actuation system has been a key issue for the development of the interaction control scheme. The HADE leg is actuated by means of three Series Elastic Actuators, and experimental results show the good performance of the impedance control performed with these actuators.
ISBN:13 978-981-4327-97-8
Appears in Collections:(IAI) Comunicaciones congresos

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