Skip to main content
SpringerLink
Log in

A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit

  • Regular Papers
  • Robot and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of nonlinear model-based variable impedance parameters controller (MVIPC) is designed. First, the mathematical model of position-based impedance control for HDU is given. Second, the performance of traditional position-based impedance control is tested on the HDU performance test platform under different working conditions, and the experimental results show that the control accuracy of this control method needs to be improved greatly. Thirdly, the control idea of MVIPC is described, and the theoretical derivation is deduced. MVIPC considers the high-order dynamic characteristics of servo valve, pressure-flow nonlinearity of servo valve, oil compressibility and load characteristics. Finally, the control performance of MVIPC is verified on the HDU performance test platform. The experimental results show that MVIPC can significantly improve the performance of traditional position-based impedance control, and have an excellent adaptability under different working conditions. This research can provide an underlying control method of hydraulic systems during the robot locomotion.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. M. Tavakoli, J. Lourenco, C. Viegas, P. Neto, and T. de Almeida, “The hybrid omni climber robot: wheel based climbing, arm based plane transition, and switchable magnet adhesion,” Mechatronics, vol. 36, pp. 136–146, June 2016.

    Article  Google Scholar 

  2. L. Zhang and Y. Qiu, “Design and analysis of small fixed pedrail robot with the variable guide wheel angle,” Journal of Mechanical Transmission, vol. 39, no. 8, pp. 97–110, August 2015.

    Google Scholar 

  3. S. Pan, L. Shi, and S. Guo, “A kinect-based real-time compressive tracking prototype system for amphibious spherical robots,” Sensors, vol. 15, no. 4, pp. 8232–8252, April 2015.

    Article  Google Scholar 

  4. J. W. Luo, Y. Su, L. C. Ruan, Y. Zhao, D. Kim, L. Sentis, an d. L. Fu, “Robust bipedal locomotion based on a hierarchical control structure,” Robotica, vol. 37, no. 10, pp. 1750–1767, October 2019.

    Article  Google Scholar 

  5. K. X. Ba, B. Yu, Z. J. Gao, Q. X. Zhu, G. L. Ma, and X. D. Kong, “An improved force-based impedance control method for the HDU of legged robot,” ISA Transactions, vol. 84, no. 1, pp. 187–205, January 2019.

    Article  Google Scholar 

  6. M. T. Li, Z. Y. Jiang, P. F. Wang, L. N. Sun, and S. Z. Sam Ge, “Control of a quadruped robot with bonic springy legs in trotting gait,” Journal of Bionic Engineering, vol. 11, no. 2, pp. 188–198, June 2016.

    Article  Google Scholar 

  7. H. Kimura, Y. Fukuoka, and A. H. Cohen, “Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts,” International Journal of Robotics Research, vol. 22, no. 3, pp. 187–202, May 2007.

    Google Scholar 

  8. I. Poulakakis, J. A. Smith, and M. Buehler, “Modeling and experiments of untethered quadrupedal running with a bounding gait: the scout ii robot,” International Journal of Robotics Research, vol. 24, no. 4, pp. 239–256, April 2005.

    Article  Google Scholar 

  9. J. G. Nichol, S. P. N. Singh, K. J. Waldron, L. R. Palmer, and D. E. Orin, “System design of a quadrupedal galloping machine,” International Journal of Robotics Research, vol. 23, pp. 1013–1027, January 2004.

    Article  Google Scholar 

  10. S. Seok, A. Wang, Y. C. Meng, D. Otten, J. Lang, and S. Kim, “Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot,” Proc. of the 2013 IEEE International Conference Robotics and Automation, pp. 3307–3312, 2013.

    Chapter  Google Scholar 

  11. J. Kim, Y. Lee, S. Kwon, K. Seo, H. Kwak, H. Lee, and K. Roh, “Development of the lower limbs for a humanoid robot,” Proc. of the IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 4000–4005, 2012.

    Google Scholar 

  12. R. Playter, M. Buehler and M. Raibert, “BigDog,” Proc of the Conference SPIE, 2006.

    Google Scholar 

  13. C. Semini, “Design of the hydraulically actuated, torquecontrolled quadruped robot HyQ2Max,” IEEE-ASME Trans. on Mechatronics, vol. 22, no. 2, pp. 635–646, October 2016.

    Article  MathSciNet  Google Scholar 

  14. X. Rong, Y. Li, J. H. Ruan, and B. Li, “Design and simulation for a hydraulic actuated quadruped robot,” Journal Mechanical Science Technology, vol. 26, no. 4, pp. 1171–1177, April 2012.

    Article  Google Scholar 

  15. M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, and D. G. Caldwell, “Local reflex generation for obstacle negotiation in quadrupedal locomotion,” Proc of Conference on Climbing and Walking Robots, pp. 443–450, 2015.

    Google Scholar 

  16. M. Hutter, C. Gehring, M. Bloesch, M. A. Hoepflinger, C. D. Remy, and R. Siegwart, “Starleth: a compliant quadrupedal robot for fast, efficient, and versatile locomotion,” Proc of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 483–490, 2012.

    Google Scholar 

  17. M. Bajracharya, J. Ma, M. Malchano, A. Perkins, A. A. Rizzi, and L. Matthies, “High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking,” Proc of IEEE International Conference on Intelligent Robots and Systems, pp. 3663–3670, 2013.

    Google Scholar 

  18. T. K. Jin, J. S. Cho, B. Y. Park, S. Park, and Y. Lee, “Experimental investigation on the design of leg for a hydraulic actuated quadruped robot,” Proc. of the 44th International Symposium on Robotics, pp. 1–5, 2013.

    Google Scholar 

  19. G. Wiedebach, S. Bertrand, T. F. Wu, L. Fiorio, S. Mc-Cory, R. Griffin, F. Nori, and J. Pratt, “Walking on partial footholds including line contacts with the humanoid robot atlas,” Proc. of the 16th IEEE-RAS International Conference on Humanoids Robots, pp. 1312–1319, 2016.

    Google Scholar 

  20. S. H. Zhou and J. H. Song, “Impedance control for vehicle driving with human operation under unstructured environment,” Proc. of the 2011 International Conference Internet Computing & Information Services, 2011.

    Google Scholar 

  21. K. Janne and J. Mattila, “Stability-guaranteed impedance control of hydraulic robotic manipulators,” IEEE-ASME Trans. on Mechatronics, vol. 22, no. 2, pp. 601–612, April 2017.

    Article  Google Scholar 

  22. Y. N. Li, S. S. Ge, Q. Zhang, and T. H. Lee, “Neural networks impedance control of robots interacting with environments,” IET Control Theory & Applications, vol. 7, no. 11, pp. 1509–1519, July 2013.

    Article  MathSciNet  Google Scholar 

  23. S. H. Chiu, C. C. Chen, K. T. Chen, X. J. Huang, and S. H. Pong, “Joint position-based impedance control with load compensation for robot arm,” Journal of the Chinese Institute of Engineers, vol. 39, no. 3, pp. 337–344, April 2016.

    Article  Google Scholar 

  24. F. J. Abu-Dakka, R. Leonel, and D. G. Caldwell, “Forcebased variable impedance learning for robotic manipulation,” Robotics and Autonomous Systems, vol. 109, pp. 156–167, November 2018.

    Article  Google Scholar 

  25. W. B. Dong, R. H. Guan, L. T. Yuan, X. L. Gu, A. Anwar, and W. Y. Lin, “Adaptive impedance based force and position control for pneumatic compliant system,” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017.

    Google Scholar 

  26. M. Kimmel and S. Hirche, “Invariance control for safe human-robot interaction in dynamic environments,” IEEE Trans. on Robotics, vol. 33, no. 6, pp. 1–16, December 2017.

    Article  Google Scholar 

  27. J. Jiang, J. Liu, W. Chen, C. Wen, and W. Chen, “An impedance-based force control scheme to a plate-to-plate nanoimprinter,” IEEE Trans. on. Nanotechnology, vol. 15, pp. 328–336, March 2016.

    Article  Google Scholar 

  28. K. X. Ba, B. Yu, Q. X. Zhu, Z. J. Gao, G. L. Ma, Z. G. Jin, and X. D. Kong, “The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot,” Journal of the Franklin Institute-Engineering and Applied Mathematics, vol. 356, no. 16, pp. 9232–9253, Nov 2019.

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of electrical engineering, Yanshan University, Qinhuangdao, 066004, Hebei, China

    Kai-xian Ba

  2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao, 066004, Hebei, China

    Kai-xian Ba

  3. School of mechanical engineering, Yanshan University, Qinhuangdao, 066004, China

    Guo-liang Ma, Bin Yu, Zheng-guo Jin, Zhi-peng Huang, Jun-xiao Zhang & Xiang-dong Kong

  4. School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, 211167, China

    Xiang-dong Kong

Authors
  1. Kai-xian Ba
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guo-liang Ma
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Bin Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zheng-guo Jin
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Zhi-peng Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jun-xiao Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Xiang-dong Kong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Bin Yu.

Additional information

Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Editor Kyoung Kwan Ahn. This work was supported by National Natural Science Foundation of China (Grant No. 51975506 and 51905465), Natural Science Foundation of Hebei Province (Grant No. E2019203021) and Graduate Student Innovation Funding Project of Hebei Province (Grant No. CXZZSS2019037).

Kai-xian Ba is currently an associate professor at Yanshan University, China. He received his Ph.D. degree from Yanshan University, China, in 2018. His main research interests include electro-hydraulic servo control system and robot design and control.

Guo-liang Ma is a Ph.D. student in Yanshan University, China. His main research interests include electro-hydraulic servo control system and robot design and control.

Bin Yu is currently an associate professor at Yanshan University, China. He received his Ph.D. degree from Yanshan University, China, in 2015. His main research interests include heavy machinery fluid transmission and control and robot design and control.

Zhen-guo Jin is currently a Master’s student in Yanshan University, China. His main research interest is robot design and control.

Zhi-peng Huang is currently a Master’s student in Yanshan University, China. His main research interests is robot design and control.

Jun-xiao Zhang is currently a Master’s student in Yanshan University, China. He graduated from Lanzhou University of Technology, China, in 2019. His main research interests is robot design and control.

Xiang-dong Kong is currently a professor at Yanshan University, China. He served as the chairman of Fluid Transmission and Control Society, which is a branch of Chinese Mechanical Engineering Society (CMES). His main research interests include electro-hydraulic servo control system, heavy machinery fluid transmission and control and robot design and control.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ba, Kx., Ma, Gl., Yu, B. et al. A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit. Int. J. Control Autom. Syst. 18, 1806–1817 (2020). https://doi.org/10.1007/s12555-019-0151-0

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-019-0151-0

Keywords

Search

Navigation