脚式ロボットのための関節トルクセンサと力覚センサによる接触検知
Contact Sensing via Joint Torque Sensors and a Force/Torque Sensor for Legged Robots
脚式ロボットの脚部に分布配置した関節トルクセンサと股関節の力覚センサを用い、一般化運動量オブザーバで接触位置と力を推定する手法を提案し、実機でサブセンチメートル精度を達成した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Jared Grinberg, Yanran Ding
分類: cs.RO
原文アブストラクト
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a low-cost strain-gauge-based joint torque sensor that can be installed on every joint to provide direct torque measurements, eliminating the need for complex friction models and providing more accurate torque readings than estimation based on motor current. Simulation studies on a floating-based 2-DoF robot leg verified that the proposed framework accurately recovers contact force and location along the thigh and shin links. Through a calibration procedure, our torque sensor achieved an average 96.4% accuracy relative to ground truth measurements. Building upon the torque sensor, we performed hardware experiments on a 2-DoF manipulator, which showed sub-centimeter contact localization accuracy and force errors below 0.2 N.
