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HIP-torque limit for no-slip conditions and estimation of frictional coefficients for legged robots

Title
HIP-torque limit for no-slip conditions and estimation of frictional coefficients for legged robots
Authors
Shin, Dong HwanKim, Young ShikAn, Jin Ung
DGIST Authors
Shin, Dong Hwan; Kim, Young Shik; An, Jin Ung
Issue Date
2010
Citation
IASTED International Conference on Robotics, Robo 2010, 170-174
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
In this paper, we discuss no-slip conditions and traction limitations for legged robots in order to realize feasible torque commands. Toward this goal, we determine hip-torque limits using a general robot model and no-slip ground conditions. We also describe how we can experimentally estimate coefficients of friction between legged robots and the ground using hip-torque limits.
URI
http://hdl.handle.net/20.500.11750/1843
DOI
10.2316/P.2010.703-033
Publisher
ACTA Press
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


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