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Communication Dans Un Congrès Année : 2015

Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation

Résumé

We present a scheme where the measurements obtained through inertial measurement units (IMU), contact-force sensors and proprioception (joint encoders) are merged in order to observe humanoid unactuated floating-base dynamics. The sensor data fusion is implemented using an Extended Kalman Filter. The prediction part is constituted by viscoelastic contacts assumption and a model expressing at the origin the full body dynamics. The correction is achieved using embedded IMU and force sensor. Simulation and experimentation on HRP-2 robot show a state observation with improves inter-sensor consistency but also increased reconstruction accuracy.
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Dates et versions

hal-01202155 , version 1 (18-09-2015)

Identifiants

  • HAL Id : hal-01202155 , version 1

Citer

Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux. Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. ⟨hal-01202155⟩
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