NEW APPROACHES ON MODULAR WALKING ROBOTS WITH FORCE-POSITION HYBRID CONTROL
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2010, Vol 55, Issue 2
Abstract
The paper presents the fundamental and applicative research regarding the elaboration of new concepts and new approaches on modular walking robots force-position hybrid control by developing and experimenting with a multiprocessor system, in real-time control and open architecture HFPC MERO. There are analyzed and developed the compliant control methods of modular walking robots with tracking functions, the “multi-stage” fuzzy control with two fuzzy control loops, one in position and the other in force and the open architecture multiprocessor system. With this approach, the HFPC MERO walking robot’s control system ensures flexibility, short execution time, target precision and repeatability of the moving programs, eliminating the closed systems with projects meant for specified applications.
Authors and Affiliations
Luige VLĂDĂREANU, Ion ION
Keywords
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