Closed-loop parity-space based fault detection: Application to simplified quadruped robot model

Abstract

In this paper, the authors raise a parity space based fault detection (FD) scheme in closed-loop quadruped robot dynamic control. The complete robot model is simplified to a cuboid, where three perpendicular forces and three perpendicular torques are applied to the center of mass (COM) of the robot model. The closed-loop system of the robot is integrated by… (More)

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