A velocity estimation algorithm for legged robot
A velocity estimation algorithm for legged robot
复制标题
DOI：
10.1177/1687814017732736
复制
发表时间：
2017-12
影响因子：
2.1
通讯作者：
Pengfei Wang;Jikai Liu;F. Zha;Wei Guo;Xin Wang;Mantian Li;Lining Sun
中科院分区：
文献类型：
--
作者：
Pengfei Wang;Jikai Liu;F. Zha;Wei Guo;Xin Wang;Mantian Li;Lining Sun
为了在保证数据精度的同时降低机器人的研制成本，提出将运动参数误差作为状态变量，利用扩展卡尔曼滤波器对捷联惯导系统测量信息和运动学正解信息进行融合估计。在此基础上，建立状态方程和检测方程。此外，本文还创新性地尝试了用反馈校正法补偿运动参数误差的最优估计，最终获得了稳定准确的机器人速度估计。该方法不受机器人腿数的限制，既适用于静态步态，又适用于动态步态，并能克服腿打滑的影响。对于该方法的验证，本文采用四足机器人进行了运动仿真和实验验证，结果验证了所提方法的正确性和可行性。
To secure the data accuracy while reducing development cost of robot, in this article, we conducted fusion estimation of the information measured by strapdown inertial navigation system and the information solved by forward kinematics using extended Kalman filter and regarding the motion parameter error was proposed as state variable. On this basis, state equation and detecting equation can be established. In addition, this article made innovative attempt to compensate the optimal estimation of motion parameter error using feedback correction method, and finally obtained stable and accurate velocity estimation of robot. Being unrestricted by the number of robot’s leg, this method is suitable for both static gait and dynamic gait, and can overcome the impact from leg slipping. As for the verification of this method, in this article, a quadruped robot was employed for motion simulation and experimental verification, and results verified the correctness and feasibility of the proposed method.