Force control for walking on soft terrains

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)

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 languageEnglish
Pages (from-to)165-172
JournalRobotica
Volume14
Issue number2
DOIs
Publication statusPublished - 1996
MoE publication typeA1 Journal article-refereed

Fingerprint

Force control
Controllers
Sand
Hydraulics

Keywords

  • walking machines
  • force control
  • soft&uneven terrain.

Cite this

Lehtinen, Hannu. / Force control for walking on soft terrains. In: Robotica. 1996 ; Vol. 14, No. 2. pp. 165-172.
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title = "Force control for walking on soft terrains",
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.",
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author = "Hannu Lehtinen",
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Force control for walking on soft terrains. / Lehtinen, Hannu.

In: Robotica, Vol. 14, No. 2, 1996, p. 165-172.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - Force control for walking on soft terrains

AU - Lehtinen, Hannu

N1 - Project: AUT8111 Project: AUT4321

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

KW - walking machines

KW - force control

KW - soft&uneven terrain.

U2 - 10.1017/S026357470001907X

DO - 10.1017/S026357470001907X

M3 - Article

VL - 14

SP - 165

EP - 172

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 2

ER -