Abstract
Force control of walking machines is essential in a natural soft and uneven terrain. A load adaptive PI force control method for the hydraulic actuation system of MECANT I has been developed. The I term of the controller is changed according to the desired load. Force control satisfies the support requirement also when a leg penetrates the terrain. A method to distribute support forces in an optimal manner has been developed. A rule based altitude controller and a dead-zone and saturation based attitude controller calculates the desired body forces. Walking tests on uneven wet sand fields show the useful applicability of the method.
| Original language | English |
|---|---|
| Pages (from-to) | 165-172 |
| Journal | Robotica |
| Volume | 14 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1996 |
| MoE publication type | A1 Journal article-refereed |
Keywords
- walking machines
- force control
- soft&uneven terrain.