Apr 13, 2022 · This paper addresses the problem of slip detection, a first fundamental step to implement appropriate control strategies and perform dynamic whole-body ...
Apr 13, 2022 · This paper addresses the problem of slip detection, a first fundamental step to implement appropriate control strategies and perform dynamic ...
Within the context of legged robots, the main contribution of this paper is a methodology to: (1) detect slippage, (2) on-line estimate the friction coefficient.
Oct 22, 2024 · We propose a slip detection approach, which is independent of the gait type and the estimation of the position and velocity of the robot in an ...
In this paper, we present a deep learning-based approach to slip detection in quadruped robots. Our slip detector uses a convolutional neural network to fuse ...
Oct 24, 2023 · Locomotion on surfaces with insufficient friction poses a significant challenge for quadruped robots. Regular legged control methods derive ...
Dec 9, 2024 · In this paper, we propose a novel slip detection method to increase the performance of body state estimation. In addition, we establish an ...
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The following work presents a methodology for slip detection and estimation of the friction parameters, plus a recovery strategy which exploits the ...
This work compares and analyzes a group of different slip detection methods based on thresholds for foot velocity and/or acceleration during the contact phase.
Slip Detection and Recovery for Quadruped Robots - ResearchGate
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Nov 21, 2024 · The following work presents a methodology for slip detection and estimation of the friction parameters, plus a recovery strategy which exploits ...