四足歩行の動的運動における衝突検出と外力推定の同時実行
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
関節エンコーダとロボット動力学のみを用い、相互作用多重モデルカルマンフィルタで接触モードと外力を同時推定し、反射運動とアドミタンス制御で衝突回避とバランスを実現する手法を提案。
著者: Ziyi Zhou, Stefano Di Cairano, Yebin Wang, Karl Berntorp
分類: cs.RO
原文アブストラクト
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter (IMM-KF) that estimates the external force exerted on the robot and multiple possible contact modes. The method is invariant to any gait pattern design. Our approach leverages pseudo-measurement information of the external forces based on the robot dynamics and encoder information. Based on the estimated contact mode and external force, we design a reflex motion and an admittance controller for the swing leg to avoid collisions by adjusting the leg's reference motion. Additionally, we implement a force-adaptive model predictive controller to enhance balancing. Simulation ablatation studies and experiments show the efficacy of the approach.
