COM motion estimation of a biped robot based on kinodynamics and torque equilibrium
COM motion estimation of a biped robot based on kinodynamics and torque equilibrium
复制标题
基于运动动力学和力矩平衡的双足机器人COM运动估计
DOI：
10.1080/01691864.2016.1150201
复制
发表时间：
2016
影响因子：
2
通讯作者：
Ken Masuya and Tomomichi Sugihara
中科院分区：
文献类型：
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作者：
Sugihara Tomomichi;Fujimoto Yasutaka;小山英利香 廣瀬明;Sugihara Tomomichi;菊田和孝 廣瀬明;Ken Masuya and Tomomichi Sugihara
提出了一种估计双足机器人质心（COM）运动的新技术。合成了卡尔曼滤波器，其中根据外力预测 COM 的时间演化，并根据运动学估计和扭矩平衡进行校正。它们互补地补偿初始估计偏移、误差累积以及建模质量属性中的误差。它利用作者之前的方法根据惯性信息和关节角度测量来估计基体的平移和旋转运动。扭矩平衡信息有助于减少COM高度的不确定性，利用COM水平和垂直运动的干扰提高COM高度的估计精度。根据质量特性和传感器信号的误差分析来调整参数。通过动力学模拟的比较研究表明，该方法比其他方法具有更好的性能。
A novel technique to estimate motion of the center of mass (COM) for a biped robot is proposed. A Kalman filter is synthesized where the time evolution of COM is predicted from the external force and corrected based on kinematic estimation and torque equilibrium. They complementarily work to compensate the initial estimation offset, the error accumulation, and errors in modeled mass properties. It makes use of the authors’ previous method to estimate the translational and rotational motion of the base body from inertial information and joint angle measurements. The information about torque equilibrium helps to reduce an uncertainty of the height of COM and to improve the estimation accuracy of it by utilizing an interference of the horizontal and vertical motion of COM. The parameters are tuned based on error analyses in mass properties and sensor signals. A comparative study showed a better performance of the proposed method than other methods through dynamics simulations.