Use of Active Compliance in the Control of Legged Vehicles
Use of Active Compliance in the Control of Legged Vehicles
复制标题
使用主动顺从控制有腿车辆
DOI：
10.1109/tsmc.1980.4308520
复制
发表时间：
1980
期刊：
影响因子：
--
通讯作者：
R. Briggs
中科院分区：
文献类型：
--
作者：
C. Klein;R. Briggs
通常，期望指定操纵器系统的末端执行器处的位置和力;然而，当系统形成闭合运动链时，两者都不能独立地实现。主动顺应性是一种折衷方法，可以很容易地被纳入经常用于控制复杂人机系统的监督控制哲学。这种系统的一个例子是俄亥俄州州立大学（OSU）的六足机器人，它是一种腿式步行车辆。主动顺应性被证明是非常宝贵的，允许腿运动在不规则的地形。
Often it is desirable to specify both position and force at the end effector of a manipulator system; however, when the system forms a closed kinematic chain both cannot be realized independently. Active compliance is a trade-off method that can be easily incorporatd into the supervisory control philosophy which is often used to control complex man-machine systems. An example of such a system is the Ohio State University (OSU) Hexapod which is a legged walking vehicle. Active compliance is shown to be invaluable for allowing legged locomotion over irregular terrain.