• DocumentCode
    862794
  • Title

    Modified hybrid control for an electrohydraulic robot leg

  • Author

    Tsai, Chi-Keng ; Wong, Ho-Cheung ; Orin, David E.

  • Author_Institution
    GMFanuc Robotics Corporation, Troy, MI, USA
  • Volume
    7
  • Issue
    4
  • fYear
    1987
  • fDate
    8/1/1987 12:00:00 AM
  • Firstpage
    12
  • Lastpage
    19
  • Abstract
    A Modified Hybrid Control scheme has been developed, which provides the mathematical structure of Hybrid Control in a manner that facilitates real-time implementation. As in Hybrid Control, either position or force (or compliance) may be controlled along each Cartesian axis. However, the control is implemented so as to achieve high servo rates. Results for control of an Adaptive Suspension Vehicle are given. This represents one of the most successful implementations of the Hybrid Control concept on an actual system, resulting in joint servoing at 140 Hz.
  • Keywords
    Legged locomotion; Robots, locomotion; Control systems; Electrohydraulics; Feedback; Force control; Leg; Legged locomotion; Prototypes; Robot kinematics; Servomechanisms; Vehicles;
  • fLanguage
    English
  • Journal_Title
    Control Systems Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    0272-1708
  • Type

    jour

  • DOI
    10.1109/MCS.1987.1105324
  • Filename
    1105324
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=862794