Active Compliance Control for the Leg of Hexapod Robot HITCR-II

摘要

Walking is an effective way of locomotion for the robot system; especially for the Hexapod robots, walking offers a better robustness for its redundancy of limbs. In order to enhance the adaptability of walking on unstructured terrain, a hexapod robot leg structure with the sensing ability has been developed. This structure is equipped with the 3-D force sensor at the tibia and the torque sensors at the first and second joint. The compliance control has been adopted to control the force of the foot end, and by combining with the real-time parameter estimation algorithm, the shape and stiffness can be updated to make the robot adapt to the mutative terrain better. Thus, the self-adaptively active compliance control for the hexapod robot leg has been realized, and the effectiveness of the controller has been verified through virtual simulation.