Abstract
In order to make the humanoid unmanned platform show excellent control quality, it is necessary to design a high-performance joint drive system first. The humanoid unmanned platform has a large load, and the hydraulic drive mode has the highest power density ratio, so the hydraulic drive mode is chosen in this paper. Because of the needs of lightweight and compact structure, it is impossible to install torque sensors at the joints, so the calculation of joint torque control is the basic control strategy for the torque control of the hip joint. Firstly, the mathematical analysis of the hip four-link mechanism is carried out, and the relationship between the moment arm of the cylinder and the angle of the hip joint is calculated. Then the simulation is carried out in Maplesim, and the correctness of the calculated moment arm is preliminarily verified. Finally, the variable PID control is carried out by using the thrust of the cylinder and the torque of the hip joint obtained from the calculating moment arm as feedback, and the experimental verification is carried out on the prototype, and the results show the feasibility of the proposed method.
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Wang, K., Peng, X., **ong, Z., Dai, Z. (2022). Research on Hip Torque Control of Humanoid Unmanned Platform. In: Wu, M., Niu, Y., Gu, M., Cheng, J. (eds) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021). ICAUS 2021. Lecture Notes in Electrical Engineering, vol 861. Springer, Singapore. https://doi.org/10.1007/978-981-16-9492-9_45
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DOI: https://doi.org/10.1007/978-981-16-9492-9_45
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