文献类型：期刊文献

英文题名：Design and experimental evaluation of a hydraulic flexible joint for legged robots

作者：Jiang, Jinlin[1]; Cao, Heng[1]; Wang, Yu[1]; Zhu, Jun[2]; Wang, Xiaolu[3]; Zhang, Xinbin[3]

机构：[1] East China University of Science and Technology, Shanghai, 200237, China; [2] Fudan University, Shanghai, 200433, China; [3] Shanghai Aerospace Control Technology Institute, Shanghai, 201108, China

年份：2019

起止页码：6

外文期刊名：Proceedings - 2019 International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019

收录：EI(收录号：20201008266226)

语种：英文

外文关键词：Robots - Machine design - Position control - Flexible manipulators - Inverse problems

摘要：In this paper, a hydraulic flexible joint for legged robots is presented to meet the requirements of flexible control and variable stiffness in varies of conditions. A proportional flow valve for closed-loop position control and an inverse proportional pressure valve for output force regulation are combined in series in the hydraulic joint, and force-position hybrid control is adopted for this joint. The detailed design and control method are proposed and analyzed. The experiment results show that the hydraulic flexible joint not only can realize the high accurate position control, but also can proportionally adjust the stiffness in a wide range. When the force and displacement constraints are applied, the performance of hydraulic flexible joint is good under the force-position hybrid control. ? 2019 IEEE.