Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion
Daegyu Lim,Myeong-Ju Kim,Junhyeok Cha,Donghyeon Kim,Jaeheung Park,Daegyu Lim,Myeong-Ju Kim,Junhyeok Cha,Donghyeon Kim,Jaeheung Park
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and failure possibility of the system. This paper introduces a method for learning external joint torque s...
