@inproceedings{a9faf6695794486193cc1b3e2f6ec476,
title = "Control input converter for robot's leg joint with parallel actuation configuration",
abstract = "This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from the behavior study of the attached linear actuator motion on each crossed joint angle. The verification is done on actual leg of Quadruped Parallel Leg Actuation (QPAL) robot system by using a real-time target embedded system with focusing on foot motion for each leg and joint angle position error tracking from some angle inputs.",
keywords = "control input converter, multijoint leg, parallel actuation",
author = "Addie Irawan and Jiun, {Hoe Lih} and Alam, {Md Moktadir}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 8th International Conference on Electrical and Computer Engineering, ICECE 2014 ; Conference date: 20-12-2014 Through 22-12-2014",
year = "2015",
month = jan,
day = "28",
doi = "10.1109/ICECE.2014.7026865",
language = "English",
series = "8th International Conference on Electrical and Computer Engineering: Advancing Technology for a Better Tomorrow, ICECE 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "757--760",
booktitle = "8th International Conference on Electrical and Computer Engineering",
}