Modeling, simulation, and model-based control of the walking machine ALDURO

被引：17

作者：

Müller, J ^{[1
]}

Schneider, M ^{[1
]}

Hiller, M ^{[1
]}

机构：

[1] Gerhard Mercator Univ Duisburg, Fachgebiet Mechatron, D-47057 Duisburg, Germany

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2000年 / 5卷 / 02期

关键词：

exact linearization; force-based motion control; modeling; walking machine;

D O I：

10.1109/3516.847087

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The system under investigation is the hydraulically driven autonomous large scale-combined legged and wheeled vehicle, the Anthropomorphically Legged and Wheeled Duisburg Robot (ALDURO). In this paper a complete mechatronic simulation model, realized in the object-oriented programming language C++, is presented. It contains the mechanical system including an explicit solution of the kinematic loops, a model of the ground contact. and the dynamics of the complete hydraulic system, as well as a force-based motion control concept based on an exact input-output linearization using decentralized force controllers. Some simulation results are shown to demonstrate the function of the simulation model and the control concept presented.

引用

页码：142 / 152

页数：11

共 22 条

[1]

ALLGOWER F, 1993, NONLINEAR CONTROL, V1026, P209

[2]

[Anonymous], EUROPEAN J MECH A

[3]

BACKE W, 1994, GRUNDLAGEN OLHYDRAUL

[4]

FREUND E, 1975, INT J CONTROL, V21, P443, DOI 10.1080/00207177508922001

[5]

GORINEVSKY D, 1997, ROBOTS AUTONOMOUS SY, V22, P303

[6] FORCE CONTROL IN LOCOMOTION OF LEGGED VEHICLES OVER RIGID AND SOFT SURFACES [J].

GORINEVSKY, DM ;

SHNEIDER, AY .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1990, 9 (02) :4-23

[7]

HILLER M, 1999, P 10 WORLD C THEOR M, V1, P11

[8]

HILLER M, 1993, NATO ADV STUDY I COM, V1, P119

[9]

Isidori A., 1989, NONLINEAR CONTROL SY

[10]

KECSKEMETHY A, 1994, ADVANCES IN ROBOT KINEMATICS AND COMPUTATIONAL GEOMETRY, P161

← 1 2 3 →