Contact-Consistent Disturbance Observer for Floating-Base Robots

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Contact-Consistent Disturbance Observer for Floating-Base Robots

Lee, Hosang / Lee, Yisoo / Park, Jaeheung

In this study, a novel disturbance observer for floating-base robots has been developed using contact information to reduce the estimation errors of joint accelerations. Typically, joint angles are measured using motor encoders and joint accelerations are computed by differentiating them twice in discrete time domain. Therefore, the estimated value inherently has a large numerical error, which is an obstacle for precise on-line estimation of the disturbance. The proposed method computes the joint acceleration error, which does not satisfy the kinematic constraints of the contact position such as a supporting foot of the robot, and incorporates it into the dynamics model to remove its effect on the disturbance torque solution. It is shown through experiments using a legged robot that the proposed contact-consistent observer can estimate the disturbance more accurately than an observer that does not consider contact information.

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Dokumentinformationen

Titel :

Contact-Consistent Disturbance Observer for Floating-Base Robots

Weitere Titelangaben:

Springer Proceedings in Advanced Robotics

Beteiligte:

Xiao, Jing (Herausgeber:in) / Kröger, Torsten (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Lee, Hosang (Autor:in) / Lee, Yisoo (Autor:in) / Park, Jaeheung (Autor:in)

Kongress:

International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018

Erschienen in:

Proceedings of the 2018 International Symposium on Experimental Robotics ; Kapitel : 41 ; 475-484

Springer Proceedings in Advanced Robotics ; 11

Erscheinungsdatum :

2020-01-23

Format / Umfang :

10 pages

ISBN :

978-3-030-33950-0 , 978-3-030-33949-4

ISSN :