行列リー群上の拡張カルマンフィルタを用いたヒューマノイドロボットの固有感覚ベース推定器DILIGENT-KIO
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
ヒューマノイドの浮遊基底の位置・姿勢・速度を、足の接触情報とIMU・順運動学を統合し、行列リー群上で拡張カルマンフィルタにより推定する手法を提案し、iCubで実証した。
著者: Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated Gaussian distributions. The configuration of a floating base system like a humanoid robot usually requires the knowledge of an additional six degrees of freedom which describes its base position-and-orientation. This quantity usually cannot be measured and needs to be estimated. A matrix Lie group, encapsulating the position-and-orientation and linear velocity of the base link, feet positions-and-orientations and Inertial Measurement Units' biases, is used to represent the state while relative positions-and-orientations of contact feet from forward kinematics are used as observations. The proposed estimator exhibits fast convergence for large initialization errors owing to choice of uncertainty parametrization. An experimental validation is done on the iCub humanoid platform.
