The effects of leg structure design,foot-end design and sensor design on touchdown detection were comprehensively discussed by analyzing the existing legged robot touchdown detection methods.The touchdown method for direct detection of external sensors,the touchdown detection method based on kinematics and dynamics,and the touchdown detection method based on learning were summarized.Touchdown detection methods were summarized in three special scenarios:slippery ground,soft ground,and non-foot-end contact.The application scenarios of touchdown detection technology were analyzed,including the three application scenarios of motion control requirements,navigation applications,and terrain and geological sensing.The development trends were pointed out,which related to the four major touchdown detection methods of hardware improvement and integration,multi-mode touchdown detection,multi-sensor fusion touchdown detection,and intelligent touchdown detection.The specific relationships between various touchdown detection algorithms were summarized,which provided guidance for the development of follow-up technology for touchdown detection and specific applications of touchdown detection.
关键词
足式机器人/触地检测/力传感器/状态估计/足端力估计
Key words
legged robot/touchdown detection/force sensor/state estimation/foot-end force estimation
维普
万方数据