Publisher： Cambridge University Press
E-ISSN： 1469-8668|14|2|165-172
ISSN： 0263-5747
Source： Robotica, Vol.14, Iss.2, 1996-03, pp. : 165-172
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Abstract
Force control of walking machines is essential in a natural soft and uneven terrain. A load adaptive PI force control method for the hydraulic actuation system of MECANT I has been developed. The I term of the controller is changed according to the desired load. Force control satisfies the support requirement also when a leg penetrates the terrain. A method to distribute support forces in an optimal manner has been developed. A rule based altitude controller and a dead-zone and saturation based attitude controller calculates the desired body forces. Walking tests on uneven wet sand fields show the useful applicability of the method.
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