Next Article in Journal
Macroporous Activated Carbon Derived from Rapeseed Shell for Lithium–Sulfur Batteries
Next Article in Special Issue
Numerical Simulation of an Oscillatory-Type Tidal Current Powered Generator Based on Robotic Fish Technology
Previous Article in Journal
Fast Frequency Acquisition and Phase Locking of Nonplanar Ring Oscillators
Previous Article in Special Issue
Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground
Article Menu

Export Article

Open AccessArticle
Appl. Sci. 2017, 7(10), 1035; doi:10.3390/app7101035

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

1
School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2
Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao, China
3
National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment, Yanshan University, Qinhuangdao 066004, China
*
Author to whom correspondence should be addressed.
Received: 2 September 2017 / Revised: 27 September 2017 / Accepted: 30 September 2017 / Published: 10 October 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)

Abstract

For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions. View Full-Text
Keywords: bionic legged robots; hydraulic drive unit (HDU); position-based impedance control; sensitivity analysis bionic legged robots; hydraulic drive unit (HDU); position-based impedance control; sensitivity analysis
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Ba, K.; Yu, B.; Gao, Z.; Li, W.; Ma, G.; Kong, X. Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU. Appl. Sci. 2017, 7, 1035.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top