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http://dx.doi.org/10.5574/KSOE.2015.29.5.398

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

Lee, Jonghwa (Department of Mechatronics Engineering, Chung-nam national university)
Kang, Hangoo (Korea Research Institute of Ships & Ocean Engineering, KRISO)
Lee, Jihong (Department of Mechatronics Engineering, Chung-nam national university)
Jun, Bong-Huan (Korea Research Institute of Ships & Ocean Engineering, KRISO)
Publication Information
Journal of Ocean Engineering and Technology / v.29, no.5, 2015 , pp. 398-403 More about this Journal
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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