UKFを用いた関節トルクセンサレスヒューマノイドのためのセンサフュージョン
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
関節トルクセンサを持たないヒューマノイドにおいて、電流や加速度などの多様なセンサ情報をUnscented Kalman Filterで統合し、外部接触がある場合でも関節トルクをオンライン推定する手法を提案した。
著者: Ines Sorrentino, Giulio Romualdi, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper proposes a novel sensor fusion based on Unscented Kalman Filtering for the online estimation of joint-torques of humanoid robots without joint-torque sensors. At the feature level, the proposed approach considers multimodal measurements (e.g. currents, accelerations, etc.) and non-directly measurable effects, such as external contacts, thus leading to joint torques readily usable in control architectures for human-robot interaction. The proposed sensor fusion can also integrate distributed, non-collocated force/torque sensors, thus being a flexible framework with respect to the underlying robot sensor suit. To validate the approach, we show how the proposed sensor fusion can be integrated into a twolevel torque control architecture aiming at task-space torquecontrol. The performances of the proposed approach are shown through extensive tests on the new humanoid robot ergoCub, currently being developed at Istituto Italiano di Tecnologia. We also compare our strategy with the existing state-of-theart approach based on the recursive Newton-Euler algorithm. Results demonstrate that our method achieves low root mean square errors in torque tracking, ranging from 0.05 Nm to 2.5 Nm, even in the presence of external contacts.
