Tactile Force Sensing for Admittance Control on a Quadruped Robot
Ground reaction forces (GRFs) are the primary interaction forces that enable a legged robot to maintain balance and perform locomotion. Most quadruped robot controllers estimate GRFs indirectly using joint torques and a kinematic model, which depend on assumptions and are highly sensitive to modelin...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/13/5/426 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|