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Sensorless Contact Force Observation with Friction Distinguishment in Heavy Legged Robot Via PMSM Load Torque and IMU.
Shaoxun Liu
Zhihua Niu
Boyuan Li
Xue Xia
Shiyu Zhou
Rongrong Wang
Published in:
AIM (2022)
Keyphrases
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contact force
legged robots
finite element analysis
master slave
force control
finite element
finite element model
force feedback
control algorithm
virtual environment
vision system
virtual reality
experimental data
path planning
motion planning
computer aided design