Humanoid momentum estimation using sensed contact wrenches
Humanoid momentum estimation using sensed contact wrenches
复制标题
使用感应接触扳手进行人形动量估计
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
L. Righetti
中科院分区：
文献类型：
--
作者：
Nicholas Rotella;Alexander Herzog;S. Schaal;L. Righetti
这项工作提出的方法估计的数量重要的控制的人形机器人的动量。与以前使用简化模型（如线性倒立摆模型）的方法相比，我们提出了基于机器人动量动力学的估计器。通过使用这个简单但动态一致的模型，我们避免了使用简化模型进行估计的问题。我们开发了一个估计的质心和全动量，可以重新估计质心偏移以及外部扳手应用到机器人。这些估计的可观测性进行了研究，并评估其性能相比，以前的方法。
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we present estimators based on the momentum dynamics of the robot. By using this simple yet dynamically-consistent model, we avoid the issues of using simplified models for estimation. We develop an estimator for the center of mass and full momentum which can be reformulated to estimate center of mass offsets as well as external wrenches applied to the robot. The observability of these estimators is investigated and their performance is evaluated in comparison to previous approaches.