期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 32, 期 4, 页码 810-822出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2572680
关键词
Human locomotion; humanoid robots; sensor fusion
类别
资金
- European Research Council under ERC [340050]
- European project KOROIBOT under FP7 [611909]
- French National Research Agency project ENTRACTE under ANR [13-CORD-002-01]
- European Research Council (ERC) [340050] Funding Source: European Research Council (ERC)
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据