Haptic Interfaces for Compensating Dynamics of Rescue Walking Robots

Octavian Melinte, Luige Vladareanu, Radu A. Munteanu, Hongnian Yu
2015 Procedia Computer Science  
This paper presents a Neural Network approach to compensate dynamic terms, friction force in particular, of a rescue walking robot used in haptic interfaces. The impedance control through dynamic compensation of the friction force is studied, followed by the implementation of neural intelligent networks in the feed-forward loop in order to eliminate the corresponding terms in the dynamics, friction force in particular. The friction force model is analyzed using a general compensation method
more » ... ensation method after which a trained Multi-Layer Neural Network is introduced in order to obtain an accurate friction model so that the movement of the walking robot feels free and unconstraint.
doi:10.1016/j.procs.2015.09.114 fatcat:q4qzrwu6zbb4bofusls6jihzuu