2019
DOI: 10.13180/clawar.2019.26-28.08.14
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Abstract: In this work, we investigate the impact of shin (distal limb) collisions on the performance of quadruped locomotion. In particular, we carry out a detailed study on the locomotion performance sensitivity to systematic errors and delays in the estimation of the shin contact location. We propose a sensor-less model based on kinematics to estimate the location of a single contact point at the shin level. In order to improve the robustness of robot locomotion, we use insights from our sensitivity study and our pro…

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