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Predefined-Time External Force Estimation for Legged Robots

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14271))

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Abstract

Legged robots have recently received widespread attention, and the online measurement/estimation of external torque/force places a vital role on the robust and stable controller design for legged robots. Although the external torque/force can be measured by installing force sensors, the reliability, cost and mechanical feasibility are concerning issues. This paper proposed a sensor-less external torque/force estimation for legged robot based on measurable joint position, velocity and torque. A predefined-time momentum observer (PTO) is proposed to achieve the convergence of the estimation error within the predefined time. Finally, a series of simulations and experiments are implemented to show the effectiveness of the proposed algorithm.

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Author information

Authors and Affiliations

  1. School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

    Peiyuan Cai, Danfu Liu & Lijun Zhu

  2. Key Laboratory of Imaging Processing and Intelligence Control, Huazhong University of Science and Technology, Wuhan, 430074, China

    Lijun Zhu

Authors
  1. Peiyuan Cai
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  2. Danfu Liu
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  3. Lijun Zhu
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Corresponding authors

Correspondence to Peiyuan Cai or Danfu Liu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cai, P., Liu, D., Zhu, L. (2023). Predefined-Time External Force Estimation for Legged Robots. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_46

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  • DOI: https://doi.org/10.1007/978-981-99-6495-6_46

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6494-9

  • Online ISBN: 978-981-99-6495-6

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