Abstract
Impedance control should be generally applied for most robot when contacts some environment to achieve “softness of contact” between the end-effector of robot and the environment. This chapter proposes several algorithms such as impedance control implementation for hexapod robot COMET-IV. Also, in the case of heavyweight and large-scale-structured robot, inclinometers from attitude angles should be designed to control the long-term attitudes of the body, not to prevent shaking caused by changes in support of the legs. Moreover, this shaking is considered as a natural scenario since the robot is using hydraulic system and automotive engine. Therefore, only attitude errors that are over the acceptable limit will be included in the adaptive calculation.
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Nonami, K., Barai, R.K., Irawan, A., Daud, M.R. (2014). Impedance Control and Its Adaptive for Hexapod Robot. In: Hydraulically Actuated Hexapod Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 66. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54349-7_7
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DOI: https://doi.org/10.1007/978-4-431-54349-7_7
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