A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot

[+] Author and Article Information
David Bevly, Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139

Constantinos Mavroidis

Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Road, Piscataway, NJ 08854

J. Dyn. Sys., Meas., Control 122(1), 27-32 (Jun 03, 1998) (6 pages) doi:10.1115/1.482425 History: Received June 03, 1998
Copyright © 2000 by ASME
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Simplified Cartesian computed torque (SSCT) control
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Schematic of a multilimbed robot
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Block diagram for the control of a multilimbed robot
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Two steps of LIBRA’s climb
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Comparison of experimental system and simplified model
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Step response of two Cartesian controllers
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Experimental path tracking of the two Cartesian controllers
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Stiffness selection in Cartesian space
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One complete step in a LIBRA climbing gait




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