단방향 힘과 모터 전류를 이용한 보행 로봇의 지면 강도 추정

Abstract

This paper proposes a method to estimate ground stiffness for a walking robot with single-axial force and motor current. Spring constant which expresses relation between rotating angle of joints and contact-force is a criterion to compare to each ground stiffness. A robot leg pushes three kinds of grounds metal, sand and gravel. Characteristic of each ground is analysed by spring constant.o each ground stiffness. A robot leg pushes three kinds of grounds metal, sand and gravel. Characteristic of each ground is analysed by spring constant.