High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots

Feet-ground interactions influence the legged robot's stability. In this paper, a high-resolution indirect force measurement for hydraulic-legged robots is presented. The use of pressure transducers placed at one or both chambers of the robot's double-effect hydraulic actuators is investigated, and...

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Bibliographic Details

Main Author:	Nabulsi, Samir (author)
Other Authors:	Sarria, Javier F. (author), Montes Franceschi, Héctor (author), Armada, Manuel A. (author)
Format:	article
Language:	English
Published:	2018
Subjects:	signal filtering Feet–ground interactions friction modeling hydraulic actuators pressure sensors quadruped robot
Online Access:	https://ieeexplore.ieee.org/abstract/document/5175352/ http://ridda2.utp.ac.pa/handle/123456789/4733
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