Non-linear ZMP based state estimation for humanoid robot locomotion
Non-linear ZMP based state estimation for humanoid robot locomotion
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基于非线性 ZMP 的仿人机器人运动状态估计
DOI：
10.1109/humanoids.2016.7803278
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
P. Trahanias
中科院分区：
文献类型：
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作者：
Stylianos Piperakis;P. Trahanias
本文提出了一种新的仿人机器人运动状态估计方案，使用扩展卡尔曼滤波器（EKF）融合编码器，惯性和脚敏电阻（FSR）的测量。滤波器的模型基于非线性零力矩点（ZMP）动力学，因此，耦合在正面和侧面的动态行为。此外，它提供了状态估计的变量，通常使用的步行模式发生器和姿态平衡控制器，如质心（CoM）和线性时变发散运动分量（DCM）的位置和速度，在3-D空间。建模误差被认为是外力作用在机器人的加速度水平。此外，非线性系统动态和线性化离散时间EKF动态的可观性分析。随后，通过利用地面实况数据从一个维康运动捕捉系统与NAO人形机器人，我们证明了所提出的方案的有效性和鲁棒性相比，线性滤波器，即使在干扰的情况下，引入系统。最后，所提出的方法实施和采用反馈到一个实时姿态控制器，渲染NAO机器人能够走在室外倾斜的路面上。
This article presents a novel state estimation scheme for humanoid robot locomotion using an Extended Kalman Filter (EKF) for fusing encoder, inertial and Foot Sensitive Resistor (FSR) measurements. The filter's model is based on the non-linear Zero Moment Point (ZMP) dynamics and thus, coupling the dynamic behavior in the frontal and the lateral plane. Furthermore, it provides state estimates for variables that are commonly used by walking pattern generators and posture balance controllers, such as the Center of Mass (CoM) and the linear time-varying Divergent Component of Motion (DCM) position and velocity, in the 3-D space. Modeling errors are taken into account as external forces acting on the robot in the acceleration level. In addition, an observability analysis for the non-linear system dynamics and the linearized discrete-time EKF dynamics is presented. Subsequently, by utilizing ground-truth data obtained from a vicon motion capture system with a NAO humanoid robot, we demonstrate the effectiveness and robustness of the proposed scheme contrasted to the linear filters, even in the case where disturbances are introduced to the system. Finally, the proposed approach is implemented and employed for feedback to a real-time posture controller, rendering a NAO robot able to walk on an outdoors inclined pavement.
使用伪线性变换的非线性系统的可观测性分析
DOI：
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发表时间：
2013
期刊：
Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems
影响因子：
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作者：
Yu Kawano;and Toshiyuki Ohtsuka
通讯作者：
and Toshiyuki Ohtsuka