Collision detection and identification for a legged manipulator
Collision detection and identification for a legged manipulator
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腿式机械臂的碰撞检测与识别
DOI：
10.1109/iros47612.2022.9981767
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Marco Hutter
中科院分区：
文献类型：
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作者：
J. V. Dam;A. Tulbure;M. Minniti;Firas Abi;Marco Hutter
为了在现实世界中安全部署腿式机器人，有必要为它们提供可靠地检测意外接触并准确估计相应接触力的能力。本文提出了一种四足机械臂碰撞检测与识别管道。我们首先介绍了一种基于带通滤波的碰撞时间跨度估计方法，并表明该信息是获得准确碰撞力估计的关键。然后，我们通过补偿模型不精确、未建模的负载和作用在机器人上的任何其他准静态干扰的潜在来源来提高识别力大小的准确性。我们通过各种场景下的大量硬件实验验证了我们的框架，包括机器人的小跑和额外的未建模负载。
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision detection and identification pipeline for a quadrupedal manipulator. We first introduce an approach to estimate the collision time span based on band-pass filtering and show that this information is key for obtaining accurate collision force estimates. We then improve the accuracy of the identified force magnitude by compensating for model inaccuracies, unmodeled loads, and any other potential source of quasi-static disturbances acting on the robot. We validate our framework with extensive hardware experiments in various scenarios, including trotting and additional unmodeled load on the robot.
无需扭矩传感的运动中机器人手臂的接触定位
DOI：
10.1109/icra48506.2021.9562058
发表时间：
2021
期刊：
IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Liang, Jacky;Kroemer, Oliver
通讯作者：
Kroemer, Oliver