Online Center of Mass and Momentum Estimation for a Humanoid Robot Based on Identification of Inertial Parameters
| Autor: | Ko Ayusawa, Eiichi Yoshida, Kenya Mori |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Angular momentum Inertial frame of reference Computer science media_common.quotation_subject 02 engineering and technology Inertia Center of mass (relativistic) Computer Science::Robotics Momentum Identification (information) 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning Humanoid robot ComputingMethodologies_COMPUTERGRAPHICS media_common |
| Zdroj: | Humanoids |
| DOI: | 10.1109/humanoids.2018.8625037 |
| Popis: | In this paper, we present a real-time method for identification of the inertial parameters of a humanoid robot and an estimation of its center-of-mass (CoM)and linear and angular momentum. CoM and momentum are important for whole-body motion generation of a humanoid robot and can be used as an indicator of motion planning. Because they are affected by modeling errors and inertia changes (e.g., due to object grasping), it is important to estimate them online. The proposed method has the advantage of being based only on the internal sensors. We verified the effectiveness of the proposal method by applying it to a humanoid robot. |
| Databáze: | OpenAIRE |
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