Joint Torque and Ground Reaction Force Estimation for a One-Legged Hopping Robot.
Weigang ZhouQiang HuaChao ChengXingyu ChenYunchang YaoLingyu KongAnhuan XieShiqiang ZhuJason Jianjun GuPublished in: ICIRA (5) (2023)
Keyphrases
- position control
- control scheme
- force control
- contact force
- robotic manipulator
- motion control
- closed loop
- robot arm
- control system
- rough terrain
- mobile robot
- legged robots
- robot manipulators
- feedback loop
- tactile sensing
- end effector
- degrees of freedom
- dc motor
- control strategies
- external forces
- force feedback
- autonomous robots
- pid controller
- control algorithm
- vision system
- robotic systems
- dynamic model
- human robot interaction
- control architecture
- motion planning
- spread spectrum
- joint space
- force sensing
- path planning
- multi robot
- control method