Contact Consistent Disturbance Estimation for Quadruped Robots

Date

2024-01-01

Author

Ozden, Hasan Can
Tanfener, Emre
Orhon, Hasan Eftun
Banus, Omer Tarik
Saranlı, Uluç
Ankaralı, Mustafa Mert
Turgut, Ali Emre

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Quadrupedal locomotion in environments without visual aid presents significant challenges in achieving automation capabilities. Often relying solely on IMU sensors and proprioceptive feedback from motors due to limited visual perception, understanding the robot's interaction with its environment becomes crucial for safe and efficient navigation. This paper presents a novel approach for estimating external forces applied to a quadrupedal robot's body, a critical aspect of its interaction with the environment. Our method integrates generalized momentum methods, contact constraints, and inertial measurement unit (IMU) data to accurately estimate these external forces. By using these diverse sources of information, the output of this work can enable navigation algorithms to enhance the robot's ability to navigate complex environments, improving stability and adaptability. Simulation studies and experimental validations demonstrate the effectiveness of the proposed method in real-world scenarios, highlighting its potential for advancing quadrupedal locomotion in unfamiliar terrains where visual aids are limited.

URI

https://hdl.handle.net/11511/112487

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Department of Mechanical Engineering, Conference / Seminar