接触力覚を用いたヒューマノイドの運動量推定
Humanoid Momentum Estimation Using Sensed Contact Wrenches
ヒューマノイドロボットの運動量制御に必要な重心位置や全運動量を、接触力センサの情報と運動量ダイナミクスに基づいて推定する手法を提案し、従来の簡易モデルによる推定と比較評価した論文。
著者: Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
分類: cs.RO
原文アブストラクト
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.
