External load estimation of hydraulically driven construction machinery from cylinder pressures and link accelerations
Naotake Shimamura,Raita Katayama,Hikaru Nagano,Yuichi Tazaki,Yasuyoshi Yokokohji,Naotake Shimamura,Raita Katayama,Hikaru Nagano,Yuichi Tazaki,Yasuyoshi Yokokohji
Remotely controlled hydraulically driven robots are expected to play an important role in extreme environments such as disaster sites, and force feedback is effective for improving the fidelity of the remote environment and the work efficiency. However, it is not reasonable to attach a force sensor directly to the end-point of a hydraulically driven robot. In a previous study, the authors showed t...
