Accurate Terrain Estimation for Humanoid Robot Based on Disturbance State Observer
This study proposes a novel reactive terrain estimation system for humanoid robots from the perspective of a state observer. The design process is as follows: the underfoot force disturbance is converted into an underfoot position disturbance by using an admittance system, the disturbance state obse...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9584835/ |