Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot
A hydraulic drive unit (HDU), applied in each joint of a hydraulic driven legged robot, usually adopts the impedance control outer loop based on the hydraulic position or the force control inner loop during the motion process. When the hydraulic control adopts closed-loop force control, its control...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8536367/ |