Kinetics Modeling Method for Wire Rope Transmission System Based on the Equivalent Mechanics Model of Wire Rope and Its Application to the FDUII Unit Aiming at the problem for kinetics modeling of wire rope transmission system, a novel kinetics modeling method which has good practicability and universality is proposed. The method considers the different structural parameters and states of wire rope in transmission system, based on the equivalent mechanics model of wire rope. Taking the ropedriven unit (FDUII) as an example, the kinetics model is established by this method instead of viscoelastic theory. The dynamics simulation and experimental researches are carried out. In order to improve the control accuracy of the unit, the tension feedback and position closed loop of joint controller is modified and applied. The contrast results show that the theoretical values calculated in this paper are closer to the simulation and experimental results. And the experimental results provide a basis for the research of impact resistance and stable walking of ropedriven robots.

Compliance Control of the HydraulicDriven Single Legged Robot This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robotu0027s knee HDU is about 0.33 time of what it is without the compliance control strategy while landing.