ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-03212025-133747

Tipo di tesi

Tesi di laurea magistrale

URN

etd-03212025-133747

Titolo

Theoretical Development and Experimental Validation of Residual Theory Based Collision Detection and Estimation on Legged Robot

Dipartimento

INGEGNERIA DELL'INFORMAZIONE

Corso di studi

INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE

Parole chiave

contact estimation
floating base robotics
ground reaction forces
legged systems
momentum observer
ros2

Data inizio appello

09/04/2025

Consultabilità

Non consultabile

Data di rilascio

09/04/2028

Riassunto (Inglese)

Riassunto (Italiano)

This work presents a proprioceptive-based approach for estimating the forces acting on quadruped robots using standard sensor data only.
Our approach leverages upon a momentum-based observer and needs joint torques, velocities, and IMU, to compute feet contact forces and the contact wrench acting on the mobile base. The force estimator has been implemented in Robot Operating System 2, realizing a flexible and robot-agnostic framework that is validated with simulated and real data. Our solution is able to estimate ground reaction forces with an error as low as 3.1\% of the robot’s mass.

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