Abstract
This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.
Original language | English |
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Title of host publication | 2017 IEEE-RAS International Conference on Humanoid Robots |
Place of Publication | 978-1-5386-4679-3 |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 165-170 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-5386-4678-6 |
DOIs | |
Publication status | Published - 8 Jan 2018 |
Event | IEEE-RAS International Conference on Humanoid Robots - The Birmingham Repertory Theatre, Centenary Square, Broad Street, Birmingham, United Kingdom Duration: 15 Nov 2017 → 17 Nov 2017 http://humanoids2017.loria.fr/ |
Publication series
Name | |
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Publisher | IEEE |
ISSN (Electronic) | 2164-0580 |
Conference
Conference | IEEE-RAS International Conference on Humanoid Robots |
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Country/Territory | United Kingdom |
City | Birmingham |
Period | 15/11/17 → 17/11/17 |
Internet address |