Implementation and Analysis of Force and Impedance Controllers applied to Legged Robots

• Grant number: 23/11407-6
• Support Opportunities: Scholarships in Brazil - Master
• Start date: September 01, 2023
• End date: August 31, 2025
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Lucca Neves Maitan
• 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

This project aims to develop, implement and compare force and impedance controllers for legged robots. Using methods and metrics previously developed by the Legged Robots research group at EESC/USP, different force and impedance controllers will be implemented in simulation and hardware. Test benches available in the project will be used, such as the IC2D bench, the HyL leg and the Go1 quadruped robot. As a result of the analyzes made of the performance and stability of the controllers, it is expected to produce guidelines for the design of new and better control architectures.