الملخص
Payload forces must be accommodated during locomotion, while leash forces can specify desired motion. We investigate whether a shared three-dimensional force estimate in newtons, inferred from proprioceptive history under sustained loading, can support both tasks. An estimator and locomotion policy are jointly trained with supervised force and velocity outputs and learned latent context. The estimated force conditions locomotion and additionally generates planar-velocity and yaw-rate commands for leash guidance through an analytical map. In sustained-force simulation sweeps, temporal means of componentwise force root mean square error range from 1.44 to 2.83\,N. Compared with a domain-randomized baseline, the framework reduces velocity-tracking and base-orientation error scores by 21.6\% and 46.5\%, respectively, and increases mean survival from 68.29\% to 94.60\% in separate sustained-force tests. Unitree Go1 experiments demonstrate stationary vertical and horizontal force estimation, locomotion with an 8.5\,kg payload whose weight exceeds the 70\,N training force limit, and leash guidance using the same force-estimation interface.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Wang, R., Yang, X., Tuerxun, A., & Mo, Y. (2026). Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction. https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction
MLA 9
Wang, Run, et al. "Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction." https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction.
شيكاغو (المؤلف–التاريخ)
Wang, Run, Xu Yang, Alapati Tuerxun, and Yilin Mo. 2026. "Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction." https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction.
هارفارد
Wang, R., Yang, X., Tuerxun, A. and Mo, Y. (2026) 'Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction', Available at: https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction.
فانكوفر
Wang R, Yang X, Tuerxun A, Mo Y. Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction. https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction
IEEE
R. Wang, X. Yang, A. Tuerxun, and Y. Mo, "Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction," https://omanscience.com/ar/articles/proprioceptive-force-estimation-for-quadruped-locomotion-and-human-robot-interaction.