Casimir based impedance control for N-DOF hydraulic robots

液压机器人由于在一般环境中的功率重量比和重力环境中的能量效率方面的优势，预计将执行建筑，农业，救援和排雷。在本计画中，我们提出一种新的阻抗控制，使液压机器人可以与人或物体接触而不会（或较少）造成伤害。所提出的控制不仅可以实现鲁棒稳定性，而且还具有鲁棒结构，这是一个新的概念，闭环系统可以是另一个机械存在的参数摄动。数值仿真和单自由度和双自由度的实验结果证实了所提出控制方法的有效性。

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.