Fig. 1 ( a ) BigANT equipped with six 6-axis force/torque transducers, ( b ) zoomed-in view of one leg with F/T transducers, ( c ) schematic drawing of front right leg module, and ( d ) 1-DoF toe tip trajectory in robot body frame xz-plane More about this image found in ( a ) BigANT equipped with six 6-axis force/torque transducers, ( b ) zoome...

Fig. 2 Violin plot of the sum of all wrenches acting on the robot when standing at 543 different poses, corresponding to various combinations of each leg motor shaft at 0, + 36 ° , and − 36 ° . As the wrench measurement in each (static) pose we used the median of each of the ... More about this image found in Violin plot of the sum of all wrenches acting on the robot when standing at...

Fig. 3 BigAnt robot hanging with transducer z -axis positive z ft k (orange) and negative direction aligning with gravity direction (red); [ s k ↓ ] and [ s k ↑ ] (purple): skew symmetric matrices modeling the hanging orientation error... More about this image found in BigAnt robot hanging with transducer z -axis positive z ft k ...

Fig. 4 Estimated center of mass (CoM) versus phase of Midleft (ML) leg. We plotted the median estimated CoM of ten cycles (solid line), interquartile range (dark shaded region), and 95% confidence interval (light shaded region; x coordinate in blue, y coordinate in orange, and z coordinate i... More about this image found in Estimated center of mass (CoM) versus phase of Midleft (ML) leg. We plotted...

Fig. 5 Violin plot of force (first row) and torque (second row) residual on xyz-axis (columns) for all six transducers, with the skew symmetric matrices s ̂ accounting for hanging orientation error (white filling), and without (gray filling). The measurements were collected with the r... More about this image found in Violin plot of force (first row) and torque (second row) residual on xyz-ax...

Fig. 6 Violin plot of the residual of the sum of force (left) and torque (right) at robot CoM in floating base frame at different poses. Naive bias removal (cross hatch filling), without characterizing transformation error (gray filling), our calibration method with ( R ̃ k , ... More about this image found in Violin plot of the residual of the sum of force (left) and torque (right) a...

Fig. 1 Illustration of the R2R peeling front More about this image found in Illustration of the R2R peeling front

Fig. 2 The experimental testbed More about this image found in The experimental testbed

Fig. 3 Control block diagram More about this image found in Control block diagram

Fig. 4 Constructing the convex NLDI set of system dynamics. (Left) The line search over the range of τ values. (Center) The approximate uncertainty set that results from this line search. (Right) The proposed NLDI that covers the approximate uncertainty set, the PLDI that would be generated ... More about this image found in Constructing the convex NLDI set of system dynamics. (Left) The line search...

Fig. 5 Diagram of the experimental measurement and control architecture More about this image found in Diagram of the experimental measurement and control architecture

Fig. 6 Web tension control simulation results More about this image found in Web tension control simulation results

Fig. 7 Web tension control experimental results More about this image found in Web tension control experimental results