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Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented, based on direct exploitation of the properties of a robot’s mechanical structure. The proposed methodology relies ...
Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain
Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ...