Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots

作者: Grzegorz Ficht, Sven Behnke

分类: cs.RO

发布日期: 2023-12-18

备注: IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, USA, December 2023

📄 摘要（原文）

We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-mass model with approximate dynamics of each mass. It enables acquiring an accurate assessment of the centroidal state and Center of Pressure, even when direct forms of force or contact sensing are unavailable. Upon this, we develop a feedforward scheme that operates on the centroidal state, accounting for insufficient joint tracking capabilities. Finally, we implement feedback mechanisms, which compensate for the lack in Degrees of Freedom that our NimbRo-OP2X robot has. The whole approach allows for reactive stepping to maintain balance despite these limitations, which was verified on hardware during RoboCup 2023, in Bordeaux, France.