IROS2019国际学术会议论文集 0364

Abstract This study proposes a biped robot pelvis kinematics estimator based on the touch point updating method Because the pelvis frame is used as the base coordinate for the control the kinematics of it with respect to the global frame should be precisely estimated To this end it was necessary to know where the robot made contact with the ground The touch point concept was introduced as the temporal contact point which was instantly the robot s rotation center By updating this point the biped s global pelvis kinematics could be estimated The proposed estimator was implemented into the actual robot and its superiority was verified through ground truth data Index Terms Humanoid robot state estimation pelvis kinematics estimation contact point estimation biped walking geometry reconstruction I INTRODUCTION iped robots are multi degree of freedom robots possessing shape similar to that of humans Recently biped humanoid robots with various functions and forms have been developed 1 4 Previously these robots were only required to operate within a limited environment Recently however they have been required to operate within various complex environments To this end hardware and control algorithms should be developed harmoniously In particular real time techniques to estimate the accurate state of a biped robot are required to achieve the desired performance An accurate and fast state estimation enables a more sophisticated feedback controller design which allows the robot to cope with various dynamic situations more efficiently Among the various states it is particularly important to accurately estimate the pelvis kinematics position and orientation of the pelvis frame because the pelvis kinematics information is the basis of other estimators and the pelvis frame is typically used as the base frame for robot control Accordingly many existing studies employ their own pelvis kinematics estimation framework This work was supported by Development of core technology for advanced locomotion manipulation based on high speed power robot platform and robot intelligence 10070171 project from the Ministry of Trade Industry and Energy MOTIE of the Republic of Korea Hyoin Bae Jaesung Oh Hyun Min Joe and Jun Ho Oh are with the Humanoid Research Center School of Mechanical Aerospace 2 Calculate forward Kinematics w t robot frame Current Touch point Pos Forward Kinematics Sensor Encoder Sensor FT Current Contact foot Model Parameter 3 Calculate touch point variation w t robot frame Delta Touch point Current Touch point Pos Prev Touch point Pos 4 Update global touch point position Pelvis rotation Matrix Rotation M Sensor FOG roll Sensor FOG pitch Sensor FOG yaw Current Global Touch point Prev Global Touch point Pelvis rotation Matrix Delta Touch point 5 Calculate global pelvis position Current Global Pelvis Pos Current Global Touch point Pelvis rotation Matrix Current Touch point Pos COM Kinematics Estimation 7509 ACKNOWLEDGMENT This work was supported by 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