Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion

2025/04/24 by Ziyi Zhou, Zhou, Ziyi, Stefano Di Cairano +5
Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Gait Recognition and Analysis #Robotic Locomotion and Control #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.2504.17201

openalex publication_date 2025/04/24 · openalex created_date 2025/10/18 · openalex updated_date 2026/07/28

Abstract

In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter (IMM-KF) that estimates the external force exerted on the robot and multiple possible contact modes. The method is invariant to any gait pattern design. Our approach leverages pseudo-measurement information of the external forces based on the robot dynamics and encoder information. Based on the estimated contact mode and external force, we design a reflex motion and an admittance controller for the swing leg to avoid collisions by adjusting the leg's reference motion. Additionally, we implement a force-adaptive model predictive controller to enhance balancing. Simulation ablatation studies and experiments show the efficacy of the approach.

Citations

• Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
• Proprioception and reaction for walking among entanglements
• Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
• Perceptive Locomotion through Nonlinear Model Predictive Control
• Collision detection and identification for a legged manipulator
• Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
• Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
• Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
• The interacting multiple model algorithm for systems with Markovian switching coefficients

Related

• Collision detection and identification for a legged manipulator
• Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
• Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
• Impact Intensity Estimation of a Quadruped Robot without Using a Force Sensor
• Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control