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DOI QR Code

Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot

접촉력 추정 정확도 향상을 위한 보행로봇의 마찰 토크 추정

Lee, Jonghwa;Kang, Hangoo;Lee, Jihong;Jun, Bong-Huan
이종화;강한구;이지홍;전봉환

  • Received : 2015.07.28
  • Accepted : 2015.10.28
  • Published : 2015.10.31

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

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