Considering the compliance control problem of hexapod robot under different environment, a control strategy based on the adaptive-fuzzy control algorithm was raised. Based on the model of robot structure and impedance control, the indirect adaptive control algorithm was derived. And through the analysis of its parameters, it could be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. According to this situation, the fuzzy control algorithm was used to modify the parameters of adaptive control and satisfied system response could be obtained based on the adjustment in real time according to the difference between input and output. The comparative analysis of traditional indirect adaptive control and the improved adaptive-fuzzy control algorithm was presented. It can be verified that not only desired contact force can be tracked when the environmental parameters are changing, but also small contact impact and high steady-state accuracy can be guaranteed under the fluctuations in the body height. The control strategy has great significance to enhance the adaptability of the hexapod robot.
ZHU Ya-guang, JIN Bo, LI Wei. Leg compliance control of hexapod robot based on adaptive-fuzzy control. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2014, 48(8): 1419-1426.
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