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

Grant number: 21/02839-4
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): April 01, 2021
Effective date (End): March 31, 2022
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Thiago Boaventura Cunha
Grantee:João Gabriel Ninni
Home 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


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.

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