Abstract
In this study, a novel disturbance observer for floating-base robots has been developed using contact information to reduce the estimation errors of joint accelerations. Typically, joint angles are measured using motor encoders and joint accelerations are computed by differentiating them twice in discrete time domain. Therefore, the estimated value inherently has a large numerical error, which is an obstacle for precise on-line estimation of the disturbance. The proposed method computes the joint acceleration error, which does not satisfy the kinematic constraints of the contact position such as a supporting foot of the robot, and incorporates it into the dynamics model to remove its effect on the disturbance torque solution. It is shown through experiments using a legged robot that the proposed contact-consistent observer can estimate the disturbance more accurately than an observer that does not consider contact information.
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Acknowledgements
This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. NRF-2015R1A2A1A10055798) and the Technology Innovation Program (10060081) funded by the Ministry of Trade, industry, and Energy (MI, Korea).
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Lee, H., Lee, Y., Park, J. (2020). Contact-Consistent Disturbance Observer for Floating-Base Robots. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_41
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DOI: https://doi.org/10.1007/978-3-030-33950-0_41
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