COMPLIANCE CONTROL OF A LEGGED ROBOT BASED ON IMPROVED ADAPTIVE CONTROL: METHOD AND EXPERIMENTS

摘要

For the purpose of impact reduction and stable walking of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. According to the model of robot structure and impedance control, a fuzzy control scheme is utilized for parameters adjustment of adaptive control. With a real-time error regulator, a fast response of system can be achieved. Comparative analysis and a series of experiments for improved compliance control method are proposed in different circumstances and presence of disturbs. The results show that expected force can be tracked quickly in complex environments, as well as smaller contact shocking and body height fluctuations are obtained, which makes foot force regulating speed of the legs be more balance and decreases instability risk of the whole system. With this characteristic, foot slipping in soft terrains can be avoided. This means the proposed strategy has great benefit for the adaptability and robustness of the hexapod walking robot in complex environment.