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

Claim 3:
4. The method for generating a novel impedance configuration for a 3DOF robotic leg according to claim 1, wherein, when the foot is in the disturbed position, the determining a variation of an input signal of an inner force-based control loop of the hydraulic drive unit of each joint based on the mathematical model specifically comprises:
when the foot is in the disturbed position, detecting, by a position sensor of the hydraulic drive unit of each joint, a position signal, and then performing forward calculation 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 a position signal of the foot, wherein the position signal of the foot comprises an input position of the foot and the actual position of the foot;
obtaining a desired outer-loop position of the foot based on the position signal of the foot; and
converting the desired outer-loop position of the foot into a corresponding desired force signal of foot impedance by using a leg impedance characteristic solver, and performing inverse calculation on the desired force signal of the foot impedance 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 point, the rotation angle of each joint, and the torque of each joint, to obtain the variation of the input signal of the inner force-based control loop of the hydraulic drive unit of each joint.