The experiment scenario of the payload mass identification. (a) is the initial posture of the robot. (b) is the posture of the robot when the identification ends.

The experiment scenario of the payload mass identification. (a) is the initial posture of the robot. (b) is the posture of the robot when the identification ends.

Source publication
Preprint
Full-text available
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload variations. Therefore, high-performance model parameter estimation becomes indispensable. However, the inertia parameter...

Context in source publication

Context 1
... this section, several experiments were carried out with the Kirin that verifies the efficacy of the proposed ACQL algorithm. As shown in Fig. 4, the robot initially stands on the ground and carries unknown payloads (sandbags). A predefined control torques are applied to drive the robot to reach the desired height with four legs on the ground supporting the main body. Influenced by the unknown payloads, there are both significant errors in the position and orientation of the ...

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