Swift perception of interaction forces is a crucial skill required for legged robots to ensure
safe human–robot interaction and dynamic contact management. Proprioceptive-based …

In this thesis, advanced model-based robot force control algorithms are developed
exploiting the availability of multisensor information towards attenuating the sensor noises …

Due to the important role of the manipulator dynamic model in manipulation control, the
identification of the dynamic parameters of manipulators has become a research hotspot …

Compared with torque-control techniques, a position-controlled quadruped robot is lower
cost, easier to build, and more direct to drive. However, the stiff actuation of position …