On the Use of Torque Measurement in Centroidal State Estimation

Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

State-of-the-art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor modality is seldom used in state estimation. In this paper, we propose to use joint torque measurements to estimate the centroidal states of legged robots. To do so, we project the whole-body dynamics of a legged robot into the nullspace of the contact constraints, allowing expression of the dynamics independent of the contact forces. Using the constrained dynamics and the centroidal momentum matrix, we are able to directly relate joint torques and centroidal states dynamics. Using the resulting model as the process model of an Extended Kalman Filter (EKF), we fuse the torque measurement in the centroidal state estimation problem. Through real-world experiments on a quadruped robot executing different gaits, we demonstrate that the estimated centroidal states from our torque-based EKF drastically improve the recovery of these quantities compared to direct computation.

OriginalspracheEnglisch
TitelProceedings - ICRA 2023
UntertitelIEEE International Conference on Robotics and Automation
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten9931-9937
Seitenumfang7
ISBN (elektronisch)9798350323658
DOIs
PublikationsstatusVeröffentlicht - 2023
Extern publiziertJa
Veranstaltung2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, Großbritannien/Vereinigtes Königreich
Dauer: 29 Mai 20232 Juni 2023

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
Band2023-May
ISSN (Print)1050-4729

Konferenz

Konferenz2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Land/GebietGroßbritannien/Vereinigtes Königreich
OrtLondon
Zeitraum29/05/232/06/23

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