| Issue |
MATEC Web Conf.
Volume 417, 2025
2025 RAPDASA-RobMech-PRASA-AMI Conference: Bridging the Gap between Industry & Academia - The 26th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, co-hosted by CSIR and Tshwane University of Technology, Pretoria
|
|
|---|---|---|
| Article Number | 04015 | |
| Number of page(s) | 9 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202541704015 | |
| Published online | 25 November 2025 | |
Development of force control and proprioception on a closed chain 5-segment leg
1 African Robotics Unit, Department of Electrical Engineering, University of Cape Town, South Africa
2 Department of Computer Science, University College London, United Kingdom
* Corresponding author: fstgav002@myuct.ac.za
In this paper we demonstrate a simple and equipment-light manner of tuning the actuation and proprioception of Spring-Loaded Inverted Pendulum (SLIP) control for a 5-segment monoped. We show that with simple calibration tests, one can greatly improve the accuracy of force commands as well as motor proprioception, reducing mean percentage error for actuation from 19.7% to 6.4 %, and reducing vertical force proprioception accuracy from 38.0% to 4.1%. This low-level force accuracy allows for much greater accuracy in control schemes utilizing vertical force control. It was shown however that the same methods could not be utilized successfully for horizontal forces.
© The Authors, published by EDP Sciences, 2025
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.