IROS2019国际学术会议论文集Biped Robot Pelvis Kinematics Estimation based on the Touch-Point Updating

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 robots rotation center. By updating this point, the bipeds 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 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. 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