Name
Abstract | ||
|---|---|---|
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we present estimators based on the momentum dynamics of the robot. By using this simple yet dynamically-consistent model, we avoid the issues of using simplified models for estimation. We develop an estimator for the center of mass and full momentum which can be reformulated to estimate center of mass offsets as well as external wrenches applied to the robot. The observability of these estimators is investigated and their performance is evaluated in comparison to previous approaches. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/HUMANOIDS.2015.7363417 | 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
momentum control,humanoid robot,linear inverted pendulum model,momentum dynamics,dynamically-consistent model,center of mass offset estimator,observability,sensed contact wrenches,humanoid momentum estimation | Inverted pendulum,Observability,Simulation,Computer science,Control theory,Control engineering,Wrench,Momentum,Robot,Center of mass,Estimator,Humanoid robot | Journal |
Volume | ISSN | Citations |
abs/1507.04401 | 2164-0572 | 5 |
PageRank | References | Authors |
0.49 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicholas Rotella | 1 | 84 | 4.13 |
| A. Herzog | 2 | 86 | 5.27 |
| Stefan Schaal | 3 | 6081 | 530.10 |
| Ludovic Righetti | 4 | 711 | 54.91 |