Hybrid force-motion control for one-legged robot in operational space

Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin (2021) Hybrid force-motion control for one-legged robot in operational space. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Delft, Netherlands

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This paper presents a dynamic locomotion generation for a one-legged floating-base robot. Reference synthesis is performed by planning both swing motion of the foot and contact forces acting from the ground. A fifth-order polynomial is employed as the position reference to reduce the impact forces and ensure a steady transition between the swing and stance phases. Contact force references are designed utilizing the laws of momentum conservation and impulse. A hybrid force-motion control framework is created in the operational space for tracking generated references. Gait phase transition is proposed to assist the transition between the force and motion controller. A full-dynamics simulation environment is utilized to test the proposed control framework. Results supported the competence of the proposed control framework for the floating-base one-legged robot.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: legged robot, force control, motion control, contact force planning, reference generation
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 27 Aug 2021 14:22
Last Modified: 28 Aug 2022 21:12
URI: https://research.sabanciuniv.edu/id/eprint/42315

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