보행로봇 다리 관절의 마찰토크 추정을 통한 접촉력 추정 성능 개선

Abstract

This paper introduces a method to estimate contact-force for a leg of a walking robot and proposes a solution to a problem of the previous study. The problem was declining performance of estimating contact-force whenever rotation of each joint was reversed. It is occurred by friction-torque of each joint so that a friction-torque model for a robot leg is generated and used for performance improvement of estimating contact-force. This idea is verified experimentally.int was reversed. It is occurred by friction-torque of each joint so that a friction-torque model for a robot leg is generated and used for performance improvement of estimating contact-force. This idea is verified experimentally.