Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
نویسندگان
چکیده
منابع مشابه
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented, based on direct exploitation of the properties of a robot’s mechanical structure. The proposed methodology relies on taking account of force-sensing requirements at the robot design stage, with a view to embedding force-sensing capability within the mechanical structure of the robot itself....
متن کاملForce Sensing for Multi-legged Walking Robots: Theory and Experiments – Part 1: Overview and Force Sensing
This paper is intended to direct the attention of researchers and designers of multi-legged walking robots to the problem of force sensing for such vehicles. The use of force information enables such systems to achieve new mechanical properties, increases the reliability and functional capabilities of walking robots and simplifies many control algorithms. Interest in developing walking machines...
متن کاملForce Sensing for Multi-legged Walking Robots: Theory and Experiments – Part 2: Force Control of Legged Vehicles
1.1 Main approaches and principles of force control Approaches to manipulator control using force information can be subdivided into two major groups. The first group uses logic branching of the control when the measured force satisfies certain conditions. The second group introduces continuous force feedback as an explicit force control or active force feedback method. The basic approaches to ...
متن کاملNovel Door-opening Method for Six-legged Robots Based on Only Force Sensing
Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged rob...
متن کاملLegged Robot 16 . Legged Robots
In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2006
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364906069173