Load Awareness: Sensorless Body Payload Sensing and Localization for Heavy Quadruped Robot
Shaoxun Liu,Shiyu Zhou,Zheng Pan,Zhihua Niu,Rongrong Wang,Shaoxun Liu,Shiyu Zhou,Zheng Pan,Zhihua Niu,Rongrong Wang
Heavy quadrupedal drives have great potential for overcoming obstacles, showing great possibilities for transportation industries in complex environments. Ground reaction force (GRF) is a crucial state variable for quadrupedal control. Most GRF observations are implemented in lightweight quadrupeds, with little consideration of the loading being static or slippery on the body. However, the load in...