Inertial parameter estimation of floating base humanoid systems using partial force sensing

M. Mistry, S. Schaal, K. Yamane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Recently, several controllers have been proposed for humanoid robots which rely on full-body dynamic models. The estimation of inertial parameters from data is a critical component for obtaining accurate models for control. However, floating base systems, such as humanoid robots, incur added challenges to this task (e.g. contact forces must be measured, contact states can change, etc.) In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the null-space of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.). We also propose how to determine the theoretical minimum force sensor set for full body estimation, and discuss the practical limitations of doing so.
Original languageEnglish
Title of host publication2009 9th IEEE-RAS International Conference on Humanoid Robots
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)978-1-4244-4597-4
Publication statusPublished - 1 Dec 2009


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