Tesi etd-03212025-133747 |
Link copiato negli appunti
Tipo di tesi
Tesi di laurea magistrale
Autore
LISI, MICHELE
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
Relatori
relatore Prof. Garabini, Manolo
relatore Dott. Angelini, Franco
relatore Dott. Pierallini, Michele
relatore Dott. Angelini, Franco
relatore Dott. Pierallini, Michele
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
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.
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.
File
| Nome file | Dimensione |
|---|---|
La tesi non è consultabile. |
|