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Inertial Sensor-Based Humanoid Joint State Estimation


Conference Paper



This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No information about the global pose of the floating base or its links is required and precise knowledge of the link IMU poses is not necessary due to presented calibration routines. Additionally, a filter is introduced to fuse gyroscope angular velocities with joint position measurements and compensate the computed joint velocities for time-varying gyroscope biases. The resulting joint velocities are subject to less noise and delay than filtered velocities computed from numerical differentiation of joint potentiometer signals, leading to superior performance in joint feedback control as demonstrated in experiments performed on a SARCOS hydraulic humanoid.

Author(s): Rotella, N and Mason, S and Schaal, S. and Righetti, L.
Book Title: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Pages: 1825--1831
Year: 2016
Publisher: IEEE

Department(s): Autonome Motorik, Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ICRA.2016.7487328

Address: Stockholm, Sweden
URL: https://arxiv.org/abs/1602.05134


  title = {Inertial {Sensor}-{Based} {Humanoid} {Joint} {State} {Estimation}},
  author = {Rotella, N and Mason, S and Schaal, S. and Righetti, L.},
  booktitle = {2016 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
  pages = {1825--1831},
  publisher = {IEEE},
  address = {Stockholm, Sweden},
  year = {2016},
  url = {https://arxiv.org/abs/1602.05134}