慣性センサを用いたヒューマノイド関節状態推定
Inertial Sensor-Based Humanoid Joint State Estimation
リンクに搭載したIMUのみからヒューマノイドの関節速度・加速度を推定する手法を提案し、ジャイロバイアス補償フィルタで関節位置計測と融合して制御性能を向上させた。
著者: Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
分類: cs.RO
原文アブストラクト
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No information about the global pose of the floating base or its links is required and precise knowledge of the link IMU poses is not necessary due to presented calibration routines. Additionally, a filter is introduced to fuse gyroscope angular velocities with joint position measurements and compensate the computed joint velocities for time-varying gyroscope biases. The resulting joint velocities are subject to less noise and delay than filtered velocities computed from numerical differentiation of joint potentiometer signals, leading to superior performance in joint feedback control as demonstrated in experiments performed on a SARCOS hydraulic humanoid.
