@inproceedings{d25244f7361e4ee99846d8ecfb3a9683,
title = "Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation",
abstract = "Heavy-duty robots such as hexapod and quadruped robots exhibit tremendous potential with their high payload ability and terrain adaptability. This paper introduces a slippage estimation and suppression approach for mammal type legged robot that traverses uneven and transition stage from a flat surface to sloped terrain. An optimal force allocation method under contact constraints is developed to minimize the linear and quadratic costs in the commands and constrained contact forces. Extensive experiments have been conducted, and the results have demonstrated the effectiveness of the proposed control approach.",
keywords = "Heavy-duty robots, Optimal force allocation, Slippage estimation and suppression",
author = "Yufei Liu and Yongyao Li and Zeyuan Sun and Dongdong Zheng and Ruiwei Liu and Chao Chen and Boyang Xing and Zhirui Wang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6489-5_39",
language = "English",
isbn = "9789819964888",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "484--494",
editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "Germany",
}