Uneven Terrain Walking with a Little Crabster 200 (LCR200 )

This research presents a development of the 
compliance control to LCR200 by using computed torque 
method. Hexapod robot LCR200, a prototype of ocean 
exploration robot CR200, is actuated by electric motors and 
Harmonic drives. Our goal of this study is applying compliant 
effects on joints to prevent damage on LCR200. To add 
compliant effect on the joints, the compliance control is 
developed with the computed torque method. To using 
computed torque method, estimating the friction term was a key 
point. To estimate a friction term, we modeled friction with 3rd 
fitting from experimental results. Additionally, we multiplied 
exponential function on the friction model to remove 
discontinuous of friction modeling. The experimental results 
showed tracking performance and compliant effect of developed 
control method with the obstacle.

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Gravity and Friction Compensation