Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles

is a reference force and c is a com pliant force sensor. If the force sensor is stiff, this feedback is equivalent to high-gain position feedback. The damping naturally present in the system may be insufficient for such feedback, thus resulting in a highly oscillatory system. To increase the damp ing, a velocity feedback should be introduced in the system.

[1]  André Preumont,et al.  An Autonomous Micro Walking Machine with Articulated Body , 1998 .

[2]  Kenneth J. Waldron,et al.  Force Distribution in Walking Vehicles , 1990 .

[3]  V. S. Gurfinkel,et al.  The six-legged walking robot capable of terrain adaptation , 1983 .

[4]  Kenneth J. Waldron,et al.  Force and motion management in legged locomotion , 1986, 1985 24th IEEE Conference on Decision and Control.

[5]  Ulrich Schmucker,et al.  Force Control For Legged Robots , 1997 .

[6]  H. Van Brussel,et al.  Compliant robot motion, I, II , 1988 .

[7]  A. V. Lensky,et al.  Manipulator motion along a constraint , 1986, Robotica.

[8]  A.A. Goldenberg,et al.  A unified theory for hybrid control of manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Peter Lancaster,et al.  The theory of matrices , 1969 .

[10]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[11]  David J. Manko,et al.  General model of legged locomotion on natural terrain , 1992, Kluwer international series in engineering and computer science.

[12]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[13]  Charles A. Klein,et al.  Use of a Multiprocessor for Control of a Robotic System , 1982 .

[14]  Igor Zeidis,et al.  Stability of a "Manipulator-Drill" System with Force Control and Time Delay , 2004 .

[15]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[16]  Miomir Vukobratović,et al.  Control of Robotic Systems in Contact Tasks , 2001 .

[17]  Dimitry Gorinevsky,et al.  Force Control of Robotics Systems , 1998 .

[18]  V. S. Gurfinkel,et al.  Walking robot with supervisory control , 1981 .

[19]  D. Signorini,et al.  Neural networks , 1995, The Lancet.

[20]  Charles A. Klein,et al.  Use of Active Compliance in the Control of Legged Vehicles , 1980, IEEE Transactions on Systems, Man, and Cybernetics.

[21]  Yi Lin,et al.  Learning hybrid position/force control of a quadruped walking machine using a CMAC neural network , 1997, J. Field Robotics.

[22]  Glauco Augusto de Paula Caurin.  Control of walking robots on natural terrain , 1994 .

[23]  Costas S. Tzafestas,et al.  Two-stage adaptive impedance control applied to a legged robot , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[24]  Joris De Schutter,et al.  Compliant robot motion: task formulation and control , 1986 .

[25]  Thomas Kindermann,et al.  Walknet--a biologically inspired network to control six-legged walking , 1998, Neural Networks.

[26]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.

[27]  Robert B. McGhee,et al.  Electronic Coordination of Joint Motions for Terrain-Adaptive Robot Vehicles , 1980 .

[28]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[29]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[30]  F. R. Gantmakher.  The Theory of Matrices , 1984 .

[31]  A.Yu. Shneider,et al.  Force control in locomotion of legged vehicle over rigid and soft surfaces , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[32]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[33]  M. G. Bekker.  Introduction to Terrain-Vehicle Systems , 1969 .

[34]  Dimitry M. Gorinevsky,et al.  Force Control in Locomotion of Legged Vehicles over Rigid and Soft Surfaces , 1990, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[35]  Thomas B. Sheridan,et al.  Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion , 1986, IEEE J. Robotics Autom..