State Estimation for Force-Controlled Humanoid Balance using Simple Models in the Presence of Modeling Error
This paper considers the design of state estimators for dynamic balancing systems using a Linear Inverted Pendulum model with unknown modeling errors such as a center of mass measurement offset or an external force. A variety of process and output models are constructed and compared. For a system containing modeling error, it is shown that a naive estimator (one that doesn’t account for this error) will result in inaccurate state estimates. These state estimators are evaluated on a force-controlled humanoid robot for a sinusoidal swaying task and a forward push recovery task.
Benjamin J. Stephens
Robotics Institute,Carnegie Mellon University,5000 Forbes Ave,Pittsburgh,PA,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3994-3999
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）