Patent ID: 11969899
Assignee: YANSHAN UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 2:
3. The method for generating a novel impedance configuration for a 3DOF robotic leg according to claim 1, wherein, when the disturbing force is applied to the foot of the to-be-controlled robot, the determining a variation of an input signal of an inner position-based control loop of the hydraulic drive unit of each joint based on the mathematical model specifically comprises:
when the disturbing force is applied to the foot of the to-be-controlled robot, detecting, by a force sensor of the hydraulic drive unit of each joint, a force signal, performing inverse calculation by using the leg dynamics model, to obtain a disturbing force component of the foot in the signal detected by the force sensor of the hydraulic drive unit of each point, and performing forward calculation by using the leg statics model, the mapping between the elongation of the hydraulic drive unit of each joint and the rotation angle of each joint, and the mapping among the force applied to the hydraulic drive unit of each joint, the rotation angle of each joint, and the torque of each joint, to obtain the disturbing force applied to the foot;
using a leg impedance characteristic solver to obtain a foot position variation corresponding to the disturbing force applied to the foot; and
performing inverse calculation based on the foot position variation by using the leg kinematics model and the mapping between the elongation of the hydraulic drive unit of each joint and the rotation angle of each joint, to obtain the variation of the input signal of the inner position-based control loop of the hydraulic drive unit of each joint.