Modified hybrid control for an electrohydraulic robot leg

A Modified Hybrid Control scheme has been developed, which provides the mathematical structure of Hybrid Control in a manner that facilitates real-time implementation. As in Hybrid Control, either position or force (or compliance) may be controlled along each Cartesian axis. However, the control is implemented so as to achieve high servo rates. Results for control of an Adaptive Suspension Vehicle are given. This represents one of the most successful implementations of the Hybrid Control concept on an actual system, resulting in joint servoing at 140 Hz.