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Mass of the payload identified in this experiment. Payload varies from 20 to 75 kg. Payload varies from 20 to 75 kg, which corresponds to PLC from 0.4 to 1.5. The identification starts from 6 s (red region) and ends at around 6.5 s (blue region). The red lines represent the reference lines.

Mass of the payload identified in this experiment. Payload varies from 20 to 75 kg. Payload varies from 20 to 75 kg, which corresponds to PLC from 0.4 to 1.5. The identification starts from 6 s (red region) and ends at around 6.5 s (blue region). The red lines represent the reference lines.

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Article
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Quadruped robots manifest great potential to traverse rough terrains with payload. Current model-based controllers, which are extensively adopted in quadruped robot locomotion control, rely on accurate estimation of parameters and will significantly deteriorate in severe disturbance, e.g., adding heavy payload. This article introduces an online ide...

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Context 1
... results of the payload mass identification are shown in Fig. 4. In the experiment, payload varies from 20 to 75 kg, which implies that PLC varies from 0.4 to 1.5. With the time horizon of 0.5 s, no matter the mass of payload, the estimation converges to an acceptable threshold quickly, no more than 3 ...

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Citations

... and are the position vectors of and the payload w.r.t. the CoM, respectively. The details about the estimation of can be seen in [28]. is the robot's position. ...
... The results of the unknown payload identification are shown in Fig. 8. The details of experiments are seen in [28]. In the experiment, the payload is changed from 20 kg to 75 kg, with the corresponding PLC varying from 0.4 to 1.5. ...
... =̇is the update law [28].the main scope of this paper and page limitation, more details about the estimation results are introduced in[28]. ...
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Recent advancement in quadrupedal robustness and agility has shown the exciting progress towards the early adoption, yet there remains a challenge to enhance the payload capacity for the dynamic locomotion with electrically actuated legged robots. This study presents Kirin, a quadruped robot with prismatic leg driven by quasi-direct drives (QDDs) for the high-payload capacity during the dynamic locomotion. Instead of the typical leg mechanisms using articulated joints, QDDs are integrated with the belt-driven linear mechanism to achieve the prismatic leg movement. The resultant design achieves an exceptional payload against the robot’s weight. The normalized work capacity (NWC) is compared to the existing quadruped robots with well-known designs. The trotting locomotion and the payload adaptive control are further investigated to enable the dynamic locomotion while carrying high payload. Experiment results show that our prismatic QDD legs can effectively balance the high payload carrying and the dynamic locomotion.