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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Qi Chenkun Gao Feng Zhao Xianchao Sun Qiao Tian Xinghua Chen Xianbao |
| Copyright Year | 2015 |
| Description | Author affiliation: State Key Lab. of Mech. Syst. & Vibration, Shanghai Jiao Tong Univ., Shanghai, China (Qi Chenkun; Gao Feng; Zhao Xianchao; Sun Qiao; Tian Xinghua; Chen Xianbao) |
| Abstract | To satisfy the rescue tasks, a heavy-duty quadruped robot is developed recently. To guarantee the payload capability, the leg design is based on a parallel mechanism and the actuators are selected as powerful motors. Foot force sensing is very important for the gait control. Traditional foot force sensors are easy to corrupt due to the strong repeated impact from the ground. In this study, the foot force estimation method is proposed from the distributed current sensing in the motor driver. It is based on a dynamic model of the robot. To compensate unknown model parameters and frictions, an improved dynamic model based on neural networks is estimated using the system identification technique from the measured data. No extra foot force or motor torque sensors are used, and the size and weight of the robot do not increase. The experiments are conducted to verify the effectiveness. |
| Starting Page | 6084 |
| Ending Page | 6089 |
| File Size | 386856 |
| Page Count | 6 |
| File Format | |
| ISBN | 9789881563897 |
| ISSN | 19341768 |
| DOI | 10.1109/ChiCC.2015.7260591 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-07-28 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Technical Committee on Control Theory, Chinese Association of Automation |
| Subject Keyword | Legged locomotion Motor Current Friction System Identification Force Foot Force Estimation Robot sensing systems Quadruped Robot Motor-Driven Robot Foot |
| Content Type | Text |
| Resource Type | Article |
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