Method for Six-Legged Robot Stepping on Obstacles by Indirect Force Estimation

• 作 者: XU Yilin GAO Feng PAN Yang CHA
• 机 构: StateKeyLaboratoryofMechanicalSystemandVibration
• 出 处: 中国机械工程学报：英文版
• 发表日期: 2016年4期
• 关键词: 六足机器人 估计 障碍物 空间并联机构 逆运动学模型 传感器安装 步态设计 步行机器人 robot parallel mechanism force estim
• 基金项目: Supported by National Basic Research Program of China（973 Program,Grant No.2013CB035501）, Research Fund of the State Key Lab of MSV of China（Grant No.MSV201208）

Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force estimation on the legged robots using leg