Technology and Method Optimization for Foot–Ground Contact Force Detection in Wheel-Legged Robots

Technology and Method Optimization for Foot–Ground Contact Force Detection in Wheel-Legged Robots

Wheel-legged robots combine the advantages of both wheeled robots and traditional quadruped robots, enhancing terrain adaptability but posing higher demands on the perception of foot–ground contact forces. However, existing approaches still suffer from limited accuracy in estimating contact position...

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Bibliographic Details
Main Authors: Chao Huang, Meng Hong, Yaodong Wang, Hui Chai, Zhuo Hu, Zheng Xiao, Sijia Guan, Min Guo
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Sensors
Subjects:
quadruped robot
contact force estimation
piezoelectric film sensors
neural network
Gaussian process regression
artificial neural network
Online Access:https://www.mdpi.com/1424-8220/25/13/4026
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https://www.mdpi.com/1424-8220/25/13/4026

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