Humanoid momentum estimation using sensed contact wrenches

This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we present estimators based on the momentum dynamics of the robot. By using this simple yet dynamically-consistent model, we avoid the issues of using simplified models for estimation. We develop an estimator for the center of mass and full momentum which can be reformulated to estimate center of mass offsets as well as external wrenches applied to the robot. The observability of these estimators is investigated and their performance is evaluated in comparison to previous approaches.

[1]  Yonghwan Oh,et al.  Estimation of the center of mass of humanoid robot , 2007, 2007 International Conference on Control, Automation and Systems.

[2]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  David E. Orin,et al.  Generation of dynamic humanoid behaviors through task-space control with conic optimization , 2013, 2013 IEEE International Conference on Robotics and Automation.

[4]  Christopher G. Atkeson,et al.  Dynamic state estimation using Quadratic Programming , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Sung-Hee Lee,et al.  A momentum-based balance controller for humanoid robots on non-level and non-stationary ground , 2012, Auton. Robots.

[6]  A. Krener,et al.  Nonlinear controllability and observability , 1977 .

[7]  Nicholas Rotella,et al.  State estimation for a humanoid robot , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Christopher G. Atkeson,et al.  Dynamic Balance Force Control for compliant humanoid robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Bernard Friedland,et al.  Advanced Control System Design , 1996 .

[10]  Christopher G. Atkeson,et al.  State estimation of a walking humanoid robot , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Alexander Herzog,et al.  Trajectory generation for multi-contact momentum control , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[12]  Benjamin J. Stephens.  State estimation for force-controlled humanoid balance using simple models in the presence of modeling error , 2011, 2011 IEEE International Conference on Robotics and Automation.

[13]  K. Erbatur,et al.  Center of mass states and disturbance estimation for a walking biped , 2013, 2013 IEEE International Conference on Mechatronics (ICM).

[14]  Alexander Herzog,et al.  Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid , 2014, Autonomous Robots.