• Engineering
  • Published 2014

Hydraulically-driven type bionic single-leg double-loop control method

@inproceedings{2014HydraulicallydrivenTB,
  title={Hydraulically-driven type bionic single-leg double-loop control method},
  author={王剑 and 马宏绪 and 陈阳祯 and 韦庆 and 王建文 and 郎琳 and 安宏雷 and 侯文琦 and 朱开盈 and 蔡润斌},
  year={2014}
}
The invention discloses a hydraulically-driven type bionic single-leg double-loop control method. The hydraulically-driven type bionic single-leg double-loop control method is composed of two links including the outer loop force/position control link and the inner loop single-joint force control link. In the outer loop force/position control link, an externally-input original expected foot end position track is received, and replanning, active-disturbance-rejection controlling and redundant… CONTINUE READING