TY - GEN
T1 - Verification of compliance control for a soft robot
AU - Yoshimura, Nobuto
AU - Ogawa, Kenji
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic locomotion. We verify the other approach of compliance control which is different from conventional control method. In conventional method, force gain is changed to control the stiffness, yet this method is not suitable from the efficiency point of view. This paper mentions also the stability of compliance controller. In the proposed approach, it is shown that virtual stiffness and damping should be designed respectively. The validity of the proposed method is shown by experimental results.
AB - This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic locomotion. We verify the other approach of compliance control which is different from conventional control method. In conventional method, force gain is changed to control the stiffness, yet this method is not suitable from the efficiency point of view. This paper mentions also the stability of compliance controller. In the proposed approach, it is shown that virtual stiffness and damping should be designed respectively. The validity of the proposed method is shown by experimental results.
KW - compliance control
KW - legged robot
KW - motion control
KW - robotics
UR - http://www.scopus.com/inward/record.url?scp=84903154936&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903154936&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823328
DO - 10.1109/AMC.2014.6823328
M3 - Conference contribution
AN - SCOPUS:84903154936
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 476
EP - 481
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -
