New Approach to Center of Mass Estimation for Humanoid Robots Based on Sensor Measurements and General LIPM

H. Alai, F. A. Shirazi, A. Yousefi-Koma
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引用次数: 4

Abstract

We present a center of mass estimator based on 6-axis force torque sensors and encoders. Acceleration of Center of Mass (CoM) is calculated using the total external forces. It is integrated to predict the CoM position and velocity. The forward kinematic equation and general Inverted Pendulum Model is used without any constraints on CoM height to update the states. The general model and equations handle changes of the height of CoM. This estimator is implemented on a simplified model of a humanoid robot in simulation. It is assumed that CoM of each link has some unknown offset errors. The estimator successfully compensates the offset errors besides the white noise in encoders and force torque sensors data, and finally estimates the CoM position on the ground.
基于传感器测量和通用LIPM的人形机器人质心估计新方法
提出了一种基于六轴力力矩传感器和编码器的质心估计器。质心加速度(CoM)是用总外力计算的。将其集成到CoM位置和速度预测中。采用不受CoM高度约束的正运动学方程和一般倒立摆模型进行状态更新。一般的模型和方程处理CoM高度的变化。该估计器是在一个简化的仿人机器人模型上实现的。假设每个链路的CoM都有一些未知的偏移错误。该估计器成功地补偿了编码器和力力矩传感器数据中的白噪声之外的偏移误差,最终估计出了地面上的CoM位置。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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