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접촉력 추정 정확도 향상을 위한 보행로봇의 마찰 토크 추정Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot
- Other Titles
- Estimation of Friction-torque to Improve Accuracy of Estimated Contact-force for a Walking Robot
- Issue Date
- 2015
- Publisher
- 한국해양공학회
- Keywords
- Force estimation 힘 추정; Friction-torque 마찰 토크; Walking robot 보행로봇; CRABSTER 크랩스터; Manipulator 매니퓰레이터
- Citation
- 한국해양공학회지, v.29, no.5, pp 398 - 403
- Pages
- 6
- Journal Title
- 한국해양공학회지
- Volume
- 29
- Number
- 5
- Start Page
- 398
- End Page
- 403
- ISSN
- 1225-0767
2287-6715
- Abstract
- This paper introduces a method to estimate the contact-force of the leg of a walking robot and proposes a solution to a shortcoming of the previous study. This shortcoming was the deteriorating performance when estimating the contact-force whenever the rotation of each joint was reversed. It occurred because the friction-torque of each joint was not considered. In order to solve this problem, a friction-torque model for a robot leg was developed based on repetitive experimentation and used to improve the contact-force estimation performance. We verified the performance of the proposed method experimentally.
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