NONSLIP HIP JOINT TORQUE RANGE OF THE LEGGED ROBOT WITH HIP JOINT ACTUATORS AND ESTIMATION METHOD FOR FRICTIONAL COEFFICIENT BETWEEN ROBOT FOOTS AND GROUND

摘要

PURPOSE: A method for estimating the torque range of a hip joint of a hip joint-driven legged robot and a friction coefficient between robot feet and the ground is provided to calculate the friction coefficient of a legged robot regardless of the CONSTITUTION of robot feet. CONSTITUTION: A method for estimating the torque range of a hip joint of a hip joint-driven legged robot and a friction coefficient between robot feet and the ground is as follows. When the feet of a legged robot touches the ground, the height and knee angle of the robot are measured through a height sensor installed in a hip joint and an angle sensor installed in a knee joint. The leg length of the robot is calculated through information from the height sensor and the angle sensor. The sweep angle of the robot is calculated through the calculated leg length and the height of the hip joint. When the feet of the robot touching the ground slide on the ground, the torque of the hip joint is measured. A frictional coefficient is calculated through the measured hip joint torque.