One example is the control of electric motors driving elements of a mechanical linkage system such as in an industrial manipulator. By adding a microprocessor to the system, however, the system can be made to operate as if it was linear with a time constant determined by the designer. Advantages of the method include insensitivity to plant parameter variations, applicability to highly nonlinear systems, and simplicity. Both position and force control are demonstrated. Use of Active Compliance in the Control of Legged Vehicles Charles A. Klein and Randal L. Briggs IEEE Transactions on System, Man, and Cybernetics , Vol.
Active compliance is shown to be invaluable for allowing legged locomotion over irregular terrain.
Abstract - The Adaptive Suspension Vehicle is a legged locomotion system which uses computer coordination and advanced sensing to operate in rough terrain. This presentation will review the results of a program of testing and software installation which has occupied the calendar year of 1986. The paper will also contain a review of the major features of the mechanical and electronic hardware architectures, and the control and coordination software. No. 4, November, 1984. Failure to address the complexities of such systems before the prototype stage can result in exceedingly lengthy redesigns and frustration, if not impossible, preproduction testing.