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Nelin. Dinam., 2019, Volume 15, Number 4, Pages 477–485 (Mi nd674)  

Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System

S. Golousov, R. Khusainov, S. Savin

Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia

Abstract: The paper deals with one of the modern challenges in walking robotics: moving across a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan precise trajectories for the robot feet in advance, before a collision with the supporting surface occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on the compliant control is employed to deal with the problem. Additionally, to solve the problem of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile, which might be a desired property for some applications.

Keywords: walking robot, uneven terrain, compliant control, biomorphic reaction force profile

Funding Agency Grant Number
Ministry of Education and Science of the Russian Federation RFMEFI60617X0007
This work has been supported by the Ministry of Science and Higher Education of the Russian Federation with the project Development of Anthropomorphic Robotic Complexes with Variable Stiffness Actuators for Movement on the Flat and Rugged Terrains (agreement: No. 075-10-2019-049 (No.14.606.21.0007), ID: RFMEFI60617X0007).


DOI: https://doi.org/10.20537/nd190406

Full text: PDF file (421 kB)
References: PDF file   HTML file

MSC: 93B18, 93B52
Received: 15.05.2019
Accepted:22.07.2019

Citation: S. Golousov, R. Khusainov, S. Savin, “Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System”, Nelin. Dinam., 15:4 (2019), 477–485

Citation in format AMSBIB
\Bibitem{GolKhuSav19}
\by S. Golousov, R. Khusainov, S. Savin
\paper Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System
\jour Nelin. Dinam.
\yr 2019
\vol 15
\issue 4
\pages 477--485
\mathnet{http://mi.mathnet.ru/nd674}
\crossref{https://doi.org/10.20537/nd190406}


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