Donetsk National Technical University
Please use this identifier to cite or link to this item:
https://ea.donntu.edu.ua/jspui/handle/123456789/24204| Title: | АДАПТИВНОЕ СИЛО-ИМПЕДАНСНОЕ РЕГУЛИРОВАНИЕ ПРИВОДОВ ШАГАЮЩИХ РОБОТОВ |
| Other Titles: | ADAPTIVE FORCE-IMPEDANCE CONTROL OF LEGGED ROBOT DRIVES |
| Authors: | Скляренко, Е.Г. Sklyarenko, E.G. |
| Keywords: | интеллектуальное управление intelligent control робототехнические системы robotic systems электроприводы роботов electric robots сило-импедансное регулирование forse-impedance regulation |
| Issue Date: | 2002 |
| Publisher: | ДонНТУ |
| Citation: | Наукові праці Донецького національного технічного університету. Серія: електротехніка і енергетика. Випуск 41 - Донецьк, ДонНТУ, 2002. |
| Series/Report no.: | Электротехника и энергетика; |
| Abstract: | The object of this paper is an intelligent drive control of the legged robot. A combination of force control and impedance control is used. Reaction forces strictly depend on ground characteristics during the impact phase. Through information of the neural environment model parameters of the force controller could be determined. The achieved results have shown that those adjustments guarantee an acceptable system behaviour. |
| URI: | http://ea.donntu.edu.ua/handle/123456789/24204 |
| Appears in Collections: | Випуск 41 |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 168-171.pdf | 2,93 MB | Adobe PDF | View/Open | |
| sp168-171.pdf | 42,29 kB | Adobe PDF | View/Open |
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