アクティブ柔軟関節4脚ロボットの足先力制御

抄録

This paper deals development and force measurement of a quadruped robot with elastic actuators. Even though force sensor is needed to measure ground reaction force of conventional quadruped robots, ground reaction force of developed robot can be measured with spring and position sensor installed in their joints. Since joint springs are bent by joint torques, position sensors can measure the deflection. Ground reaction force is calculated based on inverse dynamics with the measured torques.