4.7 Article

Center-of-Mass Estimation for a Polyarticulated System in Contact-A Spectral Approach

Journal

IEEE TRANSACTIONS ON ROBOTICS
Volume 32, Issue 4, Pages 810-822

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2572680

Keywords

Human locomotion; humanoid robots; sensor fusion

Categories

Funding

  1. European Research Council under ERC [340050]
  2. European project KOROIBOT under FP7 [611909]
  3. French National Research Agency project ENTRACTE under ANR [13-CORD-002-01]
  4. European Research Council (ERC) [340050] Funding Source: European Research Council (ERC)

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This paper discusses the problem of estimating the position of the center of mass for a polyarticulated system (e.g., a humanoid robot or a human body), which makes contact with its environment. The only sensors providing measurements on this point are either interaction force sensors or kinematic reconstruction applied to a dynamic model of the system. We first study the observability of the center-of-mass position using these sensors and we show that the accuracy domain of each measurement can be easily described through a spectral analysis. We finally introduce an original approach based on the theory of complementary filtering to efficiently merge these input measurements and obtain an estimation of the center-of-mass position. This approach is extensively validated in simulations by using a model of a humanoid robot through which we confirm the spectral analysis of the signal errors and show that the complementary filter offers a lower average reconstruction error than the classical Kalman filter. Some experimental applications of this filter on real signals are also presented.

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