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Research and Improvement on Active Compliance Control of Hydraulic Quadruped Robot

  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper focuses on active compliance control of hydraulic quadruped robot, especially the analysis of the inner-loop of the coupled system. Current researches on active compliance control regard the bandwidth of the inner loop of the system as infinite, while ignoring that the extra-load will cause the inner-loop response characteristics to deteriorate when the leg is in the stance phase. In this work, we first briefly introduced the structure of the robot, and its kinematics and dynamics are analyzed. Next, the robot’s active compliance control framework is established, and the inner-loop two-cylinder coupling system is analyzed in depth. It can be concluded that the existence of low frequency poles in the system is the main reason for the poor response characteristics. Then through the analysis of the state equation and transfer function matrix of the multi-input multi-output system, we show that the equivalent hydraulic spring stiffness (EHSS) is the main factor affecting the zero-pole distribution. Furthermore, we optimize the structure to increase the EHSS to improve the response characteristics of the system. Finally, the co-simulation platform and single-leg experiment bench are introduced. The simulation and experimental results show that the response speed of the inner-loop control is significantly improved after optimization, and the robot with active compliance control strategies can significantly reduce the impact of the foot.

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Authors and Affiliations

  1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

    Rui Zhu, Qingjun Yang, Shangru Yang, Yudong Liu & Qi Mao

  2. Nanjing Chenguang Group Co. Ltd, Nanjing, China

    Jiaxing Song

Authors
  1. Rui Zhu
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  2. Qingjun Yang
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  3. Jiaxing Song
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  4. Shangru Yang
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Correspondence to Qingjun Yang.

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Zhu Rui received his B.S. degree in mechanical engineering from Taiyuan University of Technology, China, in 2017. He is currently pursuing a Ph.D. degree in mechatronics engineering from Harbin Institute of Technology, China. His research interests include quadruped robot, electrohydraulic servo control and nonlinear control.

Yang Qingjun received his Ph.D., M.S. and B.S. degrees in mechatronics engineering from Harbin Institute of Technology, China, in 1995, 1997 and 2003, respectively. He has been with the mechatronics engineering at Harbin Institute of Technology since 2003 and promoted to the rank of associate professor in 2006. His research interests include fluid control and flow field analysis, hydraulic and pneumatic components design, nonlinear control and adaptive control.

Song Jiaxing received her M.S. degree in mechatronics engineering from Harbin Institute of Technology, China, in 2019, and received her B.S. degree in mechanical engineering from Taiyuan University of Technology, China, in 2017. She works in China Aerospace Science & Industry Nanjing Chenguang Group as an electrical engineer at present. Her research interests include servo valve driver by piezoelectric ceramic and hydraulic control system.

Yang Shangru received his B.S. degree in mechatronics engineering from Harbin Institute of Technology, China, in 2019. He is currently pursuing an M.S. degree in mechatronics engineering from Harbin Institute of Technology. His research interests include electro-hydraulic control and microfluidic.

Liu Yudong received his M.S. degree in mechatronics engineering from Harbin Institute of Technology, China, in 2019, and received his B.S. degrees in mechanical engineering from Yanshan University, China, in 2017. He is currently pursuing a Ph.D. degree in mechatronics engineering from Harbin Institute of Technology. His research interests include hydraulic components and systems and electro-hydraulic control.

Mao Qi received his B.S. degree in mechanical engineering from Taiyuan University of Technology, China, in 2018. He is currently pursuing a Ph.D. degree in mechatronics engineering from Harbin Institute of Technology, China. His research interests include heat and mass transfer and microfluidic technology.

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Zhu, R., Yang, Q., Song, J. et al. Research and Improvement on Active Compliance Control of Hydraulic Quadruped Robot. Int. J. Control Autom. Syst. 19, 1931–1943 (2021). https://doi.org/10.1007/s12555-020-0221-3

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  • DOI: https://doi.org/10.1007/s12555-020-0221-3

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