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COM motion estimation of a biped robot based on kinodynamics and torque equilibrium.

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Title: COM motion estimation of a biped robot based on kinodynamics and torque equilibrium.
Authors: Masuya, Ken1 (AUTHOR) ken.masuya@ams.eng.osaka-u.ac.jp, Sugihara, Tomomichi1 (AUTHOR)
Source: Advanced Robotics. May2016, Vol. 30 Issue 10, p691-703. 13p.
Subjects: COM (Computer architecture), Parameter estimation, Robot kinematics, Robot dynamics, Torque control
Abstract: A novel technique to estimate motion of the center of mass (COM) for a biped robot is proposed. A Kalman filter is synthesized where the time evolution of COM is predicted from the external force and corrected based on kinematic estimation and torque equilibrium. They complementarily work to compensate the initial estimation offset, the error accumulation, and errors in modeled mass properties. It makes use of the authors’ previous method to estimate the translational and rotational motion of the base body from inertial information and joint angle measurements. The information about torque equilibrium helps to reduce an uncertainty of the height of COM and to improve the estimation accuracy of it by utilizing an interference of the horizontal and vertical motion of COM. The parameters are tuned based on error analyses in mass properties and sensor signals. A comparative study showed a better performance of the proposed method than other methods through dynamics simulations. [ABSTRACT FROM AUTHOR]
Copyright of Advanced Robotics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Label: Title
  Group: Ti
  Data: COM motion estimation of a biped robot based on kinodynamics and torque equilibrium.
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  Data: <searchLink fieldCode="AR" term="%22Masuya%2C+Ken%22">Masuya, Ken</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> ken.masuya@ams.eng.osaka-u.ac.jp</i><br /><searchLink fieldCode="AR" term="%22Sugihara%2C+Tomomichi%22">Sugihara, Tomomichi</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Advanced+Robotics%22">Advanced Robotics</searchLink>. May2016, Vol. 30 Issue 10, p691-703. 13p.
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  Data: <searchLink fieldCode="DE" term="%22COM+%28Computer+architecture%29%22">COM (Computer architecture)</searchLink><br /><searchLink fieldCode="DE" term="%22Parameter+estimation%22">Parameter estimation</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+kinematics%22">Robot kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+dynamics%22">Robot dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22Torque+control%22">Torque control</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: A novel technique to estimate motion of the center of mass (COM) for a biped robot is proposed. A Kalman filter is synthesized where the time evolution of COM is predicted from the external force and corrected based on kinematic estimation and torque equilibrium. They complementarily work to compensate the initial estimation offset, the error accumulation, and errors in modeled mass properties. It makes use of the authors’ previous method to estimate the translational and rotational motion of the base body from inertial information and joint angle measurements. The information about torque equilibrium helps to reduce an uncertainty of the height of COM and to improve the estimation accuracy of it by utilizing an interference of the horizontal and vertical motion of COM. The parameters are tuned based on error analyses in mass properties and sensor signals. A comparative study showed a better performance of the proposed method than other methods through dynamics simulations. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Advanced Robotics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1080/01691864.2016.1150201
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      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 13
        StartPage: 691
    Subjects:
      – SubjectFull: COM (Computer architecture)
        Type: general
      – SubjectFull: Parameter estimation
        Type: general
      – SubjectFull: Robot kinematics
        Type: general
      – SubjectFull: Robot dynamics
        Type: general
      – SubjectFull: Torque control
        Type: general
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      – TitleFull: COM motion estimation of a biped robot based on kinodynamics and torque equilibrium.
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            NameFull: Masuya, Ken
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            NameFull: Sugihara, Tomomichi
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              Text: May2016
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              Value: 30
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            – TitleFull: Advanced Robotics
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