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. 2022 Jan 7;8:788902. doi: 10.3389/frobt.2021.788902

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Copyright © 2022 Lee, Ahn, Kim, Bang and Sentis.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Experiment results with the same scenarios with the simulations in 4.1.1 and 4.1.3: pushing (A,B) and impacting (C,D) the pelvis of Draco2 in double support phase. The estimated external disturbance ${\hat{F}}_{t}$ is computed when pushing (E) and impacting (F) the robot.