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Inertial parameter estimation of floating-base humanoid systems using partial force sensing

2009

Conference Paper

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Recently, several controllers have been proposed for humanoid robots which rely on full-body dynamic models. The estimation of inertial parameters from data is a critical component for obtaining accurate models for control. However, floating base systems, such as humanoid robots, incur added challenges to this task (e.g. contact forces must be measured, contact states can change, etc.) In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the nullspace of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.). We also propose how to determine the theoretical minimum force sensor set for full body estimation, and discuss the practical limitations of doing so.

Author(s): Mistry, M. and Schaal, S. and Yamane, K.
Book Title: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
Year: 2009

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Paris, Dec.7-10
Cross Ref: p10332
Note: clmc
URL: http://www-clmc.usc.edu/publications/M/mistry-Humanoids2009.pdf

BibTex

@inproceedings{Mistry_IICHR_2009,
  title = {Inertial parameter estimation of floating-base humanoid systems using partial force sensing},
  author = {Mistry, M. and Schaal, S. and Yamane, K.},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)},
  address = {Paris, Dec.7-10},
  year = {2009},
  note = {clmc},
  crossref = {p10332},
  url = {http://www-clmc.usc.edu/publications/M/mistry-Humanoids2009.pdf}
}