A Novel Foot Contact Probability Estimator for Biped Robot State Estimation

Qin，Mingyue1; Yu，Zhangguo1; Chen，Xuechao1; Huang，Qiang1; Fu，Chenglong2; Ming，Aiguo1; Tao，Chunjing1

10.1109/ICMA49215.2020.9233715

2020-10-13

2152-7431

978-1-7281-6417-5

2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

1901-1906

13-16 Oct. 2020

Beijing, China

State estimation is an important part of biped robot control, but unreliable foot contact estimation would lead to inaccurate state estimation result. In this paper, to reduce the state estimation error caused by the inaccurate contact estimation, we propose a novel simplified contact probability estimator based on the force/torque sensor mounted on the foot. The contact probability is used to tune the covariance matrices of the extended Kalman filter, and the parameters of the probability estimator are optimized iteratively through minimizing the error between state estimation result and ground truth measurement. The experimental result on BHR-6P biped robot shows that the proposed method can effectively reduce the state estimation error.

Bayesian optimization biped robot extended Kalman filter probabilistic estimation State estimation

其他

英语

EI

20204809539352

Iterative methods ; Covariance matrix ; Extended Kalman filters ; Probability ; Errors ; Robots

Control Systems:731.1 ; Robotics:731.5 ; Mathematics:921 ; Numerical Methods:921.6 ; Probability Theory:922.1

2-s2.0-85096520494

Scopus

1.Beijing Institute of Technology,School of Mechatronical Engineering,Beijing,100081,China
2.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,518055,China

Qin，Mingyue,Yu，Zhangguo,Chen，Xuechao,et al. A Novel Foot Contact Probability Estimator for Biped Robot State Estimation[C],2020:1901-1906.