Journal
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Volume -, Issue -, Pages 3122-3129Publisher
IEEE COMPUTER SOC
Keywords
-
Categories
Ask authors/readers for more resources
The dynamics of a humanoid robot cannot be correctly described independently from the external forces acting on it. These forces have to be reconstructed to enable the robot to control them or to compensate for them. Force sensors are usually used to measure these forces, but because of their cost, they are often put only on the ankle/feet and possibly the wrists. This paper addresses the issue of the estimation of external forces and moments that apply at any part of a robot without direct force measurements and without torque measurements. The sensors used are the regular force sensors and the IMUs of the robot. The method relies on a model-based estimator able to make the fusion between these sensors and the whole body dynamics. The estimator reconstructs a single state vector containing the floating-base kinematics, a filtered measurement of contact force and an additional estimation external force that we evaluate in this paper. Validation is performed on HRP-2 in a multi-contact motion.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available