Analysis of the influence of structural vibration modes on the passivity of impedance controllers

• Grant number: 21/02839-4
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: April 01, 2021
• End date: March 31, 2022
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: João Gabriel Ninni
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP

Abstract

Robot links are traditionally made of metal. The structural rigidity of the links will depend on factors such as the material used (e.g. aluminum or steel) and the structural design of the link itself. In this project, it is expected to experimentally estimate the vibration modes of the links used in the leg of the quadruped HyQ robot and, subsequently, to analyze their influence on the passivity of leg impedance controllers.