Casimir based impedance control for N-DOF hydraulic robots
| Project/Area Number |
24760184
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
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| Research Institution | Shinshu University |
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Principal Investigator |
SAKAI Satoru 信州大学, 工学部, 准教授 (90400811)
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2012: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 油圧ロボット / モデリング / ロバスト制御 / ハミルトン系 / 機械力学・制御 / インピーダンス制御 / ポートハミルトン系 |
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| Research Abstract |
Hydraulic robots are expected to perform construction, agriculture, rescue, and demining due to the advantages with respect to the power weight ratio in the general environment and the energy efficiency in the gravity environment. In this project, we propose a new impedance control by which the hydraulic robots can contact with human and objects without (or with less) damage. The proposed control can achieve not only robust stability but also robust structure which is a new concept that the closed-loop system can be another mechanical in the presence of parameter perturbations. The validity of the proposed control is confirmed by the numerical simulations and the experiments in 1-DOF or 2-DOF cases.
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Report
(3 results)
Research Products
(22 results)
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[Presentation] Casimir Based Impedance Control2012
Author(s)
Satoru Sakai, Stefano Stramigioli
Organizer
Proc. of IEEE International conference on Robotics and Automation (ICRA2012)
Place of Presentation
Minnesota, USA
Year and Date
2012-05-15
Related Report
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