Force-controllable Quadruped Robot System with Capacitive-type Joint Torque Sensor
| Autor: | Luong Tin Phan, Hansol Kang, Yoon Lee, Sungmoon Jin, Dong-Yeop Seok, Hyungpil Moon, Seung Yeon Lee, Hyunyong Lee, Ja Choon Koo, Hyouk Ryeol Choi, Yong Bum Kim, Young Hun Lee |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Settling time Computer science Capacitive sensing media_common.quotation_subject 020208 electrical & electronic engineering 02 engineering and technology Inertia Computer Science::Robotics Controllability 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Torque Robot Torque sensor Actuator media_common |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2019.8794459 |
| Popis: | This paper introduces a force-controllable quadruped robot system consists of twelve Actuator Modules embedded a novel Capacitive-type Joint Torque Sensor (CJTS) which is accurate (0.05 Nm), robust to impact, and easy to manufacture at low cost. The Actuator Module with CJTS shows accurate joint torque controllability in range of ±70 Nm (90 % settling time 0.04 s). The leg made by the three Actuator Modules is capable of generating forces in the z-axis up to 350 N and shows force control performances with zero-force control and lifting weights in three-dimensional space. To reduce the reflected limb inertia, all the Actuator Modules are located on the body frame and light-weight limbs made of the carbon pipe (3.6 % of total body weight). The introduced robot performed the motion on various terrains with walking/trot gaits. |
| Databáze: | OpenAIRE |
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