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Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot
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 Title & Authors
Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot
Lee, Jonghwa; Kang, Hangoo; Lee, Jihong; Jun, Bong-Huan;
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 Abstract
This paper introduces a method to estimate the contact-force of the leg of a walking robot and proposes a solution to a shortcoming of the previous study. This shortcoming was the deteriorating performance when estimating the contact-force whenever the rotation of each joint was reversed. It occurred because the friction-torque of each joint was not considered. In order to solve this problem, a friction-torque model for a robot leg was developed based on repetitive experimentation and used to improve the contact-force estimation performance. We verified the performance of the proposed method experimentally.
 Keywords
Force estimation;Friction-torque;Walking robot;CRABSTER;Manipulator;
 Language
Korean
 Cited by
 References
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