首页|A novel one-dimensional force sensor calibration method to improve the contact force solution accuracy for legged robot
A novel one-dimensional force sensor calibration method to improve the contact force solution accuracy for legged robot
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NSTL
Elsevier
Among the robots, compared with wheeled robots and crawler robots, legged robots with characteristics of discontinuous support are more suitable for walking in the unknown and complex environment. Hydraulic drive has many advantages, such as fast response and high power to weight ratio, etc. [1-4] Combining the advantages of legged robots and hydraulic drive, the hydraulic driven legged robot can show great potential for application in the field of rescue and heavy cargo transportation, and has been a research hotspot in various countries. In the motion control of legged robot, it is necessary to detect the real-time contact force generated between the foot end and the ground [5]. There are two methods usually used to obtain the foot end contact force through sensor measuring. One method is to directly measure through the multi-dimensional force sensor attached to the foot end of the robot [6-8]. The other method is to indirectly obtain the foot end contact force through the one-dimensional force sensor of hydraulic drive unit (HDU) combined with statics [9-11]. Generally, multi-dimensional force sensors are expensive, have a short service life and are easily damaged in the actual application [12]. Therefore, the latter method is widely adopted to obtain the foot end contact force of the robot.
NSTL
Elsevier
