Leg compliance control of a hexapod robot based on improved adaptive control in different environmen

来源 :Journal of Central South University | 被引量 : 0次 | 上传用户：MyFairy83

【摘要】

：

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm

【作者】

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朱雅光金波李伟

【机构】

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StateKeyLaboratoryofFluidPowerTransmissionandControl（ZhejiangUniversity）

【出处】

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Journal of Central South University

【发表日期】

：

2015年3期

【关键词】

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自适应控制算法六足机器人复杂环境基础模糊控制算法控制策略柔性控制机器人结构 hexapod robot tip-point force adapt

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Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indir

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Leg compliance control of a hexapod robot based on improved adaptive control in different environmen

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