3 accepted papers
Quadruped manipulators require precise detection of external forces to perform a series of force-related tasks during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. Conventional momentum based observer
Quadruped manipulators require precise detection of external impact forces to ensure safe and compliant responses during environmental interactions. However, these systems often lack tactile sensors on their body surfaces or force/torque sensors at critical joints. This study introduces a whole-body
In normal operations, when quadruped manipulators with impedance control experience external disturbances, they may become unstable and lose balance due to actuation saturation, affecting their stability, safety, and compliance with the environment. To address this issue, we propose a whole-body com…