Zobrazeno 1 - 10
of 131
pro vyhledávání: '"Zhengguo Jin"'
Publikováno v:
IEEE Access, Vol 8, Pp 171988-172005 (2020)
Each joint of hydraulic drive legged robot adopts highly integrated electro-hydraulic servo system, and the system has two common forms, namely, valve-controlled cylinder system and pump-controlled cylinder system. The former has a large energy loss,
Externí odkaz:
https://doaj.org/article/a50d43b01d2e402c94aba2270bea2e6b
Autor:
Bin Yu, Kaixian Ba, Yaliang Liu, Zhengguo Jin, Qixin Zhu, Zhengjie Gao, Guoliang Ma, Xiangdong Kong
Publikováno v:
IEEE Access, Vol 7, Pp 11237-11245 (2019)
A hydraulic drive unit (HDU), applied in each joint of a hydraulic driven legged robot, usually adopts the impedance control outer loop based on the hydraulic position or the force control inner loop during the motion process. When the hydraulic cont
Externí odkaz:
https://doaj.org/article/c86318e689ec4941a2657a85744a79f3
Publikováno v:
IEEE Access, Vol 7, Pp 101063-101072 (2019)
The hydraulic drive unit (HDU) applied in a hydraulic drive legged robot joints adopts an outer loop impedance control method based on the hydraulic control's inner loop during motion so that the entire system obtains certain compliance characteristi
Externí odkaz:
https://doaj.org/article/f87d92f466234f73b50aa433389ea53b
Publikováno v:
Complexity, Vol 2020 (2020)
Hydraulic drive mode enables legged robots to have excellent characteristics, such as greater power-to-weight ratios, higher load capacities, and faster response speeds than other robots. Nowadays, highly integrated valve-controlled cylinder, called
Externí odkaz:
https://doaj.org/article/01cce43029bd44cda4ee218bc5b30c1a
Publikováno v:
Applied Sciences, Vol 10, Iss 2, p 579 (2020)
Since the emergence of digital hydraulic technology, it has achieved good results in intelligence, integration, energy saving, etc. After decades of development, and it has also attracted wide attention in the industry. However, for many years, the d
Externí odkaz:
https://doaj.org/article/21ebffc060924a4f82ef12a2f428fddb
Publikováno v:
Robotica. 39:1328-1343
SUMMARYIn this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to bu
Publikováno v:
International Journal of Control, Automation and Systems. 18:1806-1817
In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of nonlinear model-based variable impedance parameters controller (MVIP
Publikováno v:
IEEE Access, Vol 8, Pp 171988-172005 (2020)
Each joint of hydraulic drive legged robot adopts highly integrated electro-hydraulic servo system, and the system has two common forms, namely, valve-controlled cylinder system and pump-controlled cylinder system. The former has a large energy loss,
Publikováno v:
Journal of the Franklin Institute. 356:9232-9253
In this paper, the hydraulic drive unit (HDU) driving the joint motion of the legged robot is the research object. Through the experiment on HDU, it is observed that the control accuracy of the traditional position-based impedance control is not high
Publikováno v:
IEEE Access, Vol 7, Pp 101063-101072 (2019)
The hydraulic drive unit (HDU) applied in a hydraulic drive legged robot joints adopts an outer loop impedance control method based on the hydraulic control's inner loop during motion so that the entire system obtains certain compliance characteristi