Can anyone please suggest me some articles to provide some literature about walking robots? (control laws, control equations, stabilizing equations provided in the papers or videos would be thoroughly helpful.)
Posts by Soham Sarkar
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I apologize for not mentioning the objective clearly. The objective is to understand admittance control by using force feedback and position feedback of the robot to calculate the inertia, damping, and stiffness. Please do raise questions if anything is not clear. I would be glad to help and work through it.
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Yes, I am working with a kuka robot arm. I am trying to find the stiffness, inertia and damping of the robot arm by its force and trajectory. Do you know any calculations or equations that might help with the objective?
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How do you calculate the stiffness, damping, and inertia of motion if the movement coordinates are given in terms of x,y,z, and force is given in terms of fx, fy, fz = [sin(t), cos(t), sin(t)]?
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How to compute admittance parameters from force and position coordinates?Is there any code for it? Please share. It would really be helpful to understand.