Adaptive Impedance Control Applied to a Pneumatic Legged Robot

impedance error is presented where only the available feedback information is used. ... Each leg of the SAP robot has the kinematic structure of figure 2.
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Kr- Fd

Kf Mr

Mf Bf

Br x

x

d

Be x

r

Robot impedance

Ke

Fe

Force sensor

xe Ground (environment)

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τd +

q Eq.(7)

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Actuators

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Towards Impedance Controller

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Leg

Level

Level

2nd Stage of Adaptation

to robot xd

Impedance Controller +

Fd

1st Stage of Adaptation

τd

Pneumatic Actuators Control

state-feedback

I

Z

Fe

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