A quadruped controller estimates a sliding payload's mass, friction, position, and velocity from proprioception, then uses that estimate to stabilize the load while walking on rough terrain.
Load awareness: Sensorless body payload sensing and local- ization for heavy quadruped robot,
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Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain
A quadruped controller estimates a sliding payload's mass, friction, position, and velocity from proprioception, then uses that estimate to stabilize the load while walking on rough terrain.