Development of the compliance control for hexapod walking robot LCR200

Abstract

This paper presents a development of the compliance control to LCR200 by using computed torque method. Hexapod robot LCR200, a prototype of ocean exploration robot CR200, is actuated by electric motors and Harmonic drives. Our goal of this study is applying compliant effects on joints to prevent damage on LCR200. To add compliant effect on the joints, the compliance control is developed with the computed torque method. To using computed torque method, estimating the friction term was a key point. To estimate a friction term, we modeled friction with 3 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">rd</sup> fitting from experimental results. Additionally, we multiplied exponential function on the friction model to remove discontinuous of friction modeling. The experimental results showed tracking performance and compliant effect of developed control method with the obstacle.