Biped robot state estimation using compliant inverted pendulum model

Cited 19 time in webofscience Cited 14 time in scopus
  • Hit : 522
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorBae, Hyoinko
dc.contributor.authorOh, Jun-Hoko
dc.date.accessioned2019-04-15T14:34:22Z-
dc.date.available2019-04-15T14:34:22Z-
dc.date.created2018-10-15-
dc.date.issued2018-10-
dc.identifier.citationROBOTICS AND AUTONOMOUS SYSTEMS, v.108, pp.38 - 50-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10203/254182-
dc.description.abstractThis study proposes a biped robot state estimation framework based on a compliant inverted pendulum model and a robust state estimator. A proper model that can express the key physical characteristics while considering limited computing power should be defined for the biped robot state estimation. A biped robot's limited structural stiffness and relatively long legs compared with the cross section of the body lead to undesired flexibility. However, the models used in previous research are either not suitable for state estimation or too simple to express the essential characteristics of the biped robot. A compliant inverted pendulum model is adopted herein to enhance the estimation accuracy. This model is made by adding a virtual spring and a damper to the conventional inverted pendulum. The additional elements represent the mechanical deformation and the undesired flexible movement. Adopting this model makes it possible to reflect the important characteristics of the biped robot while taking advantage of the merits of the single-mass model. In addition, a robust state estimator that we previously proposed is adopted to compensate for the estimation error caused by the modeling error. Using these two factors, the improved COM-kinematics estimate is obtained with respect to the existing simple-model-based biped state estimators. (C) 2018 Elsevier B.V. All rights reserved.-
dc.languageEnglish-
dc.publisherELSEVIER SCIENCE BV-
dc.subjectHUMANOID ROBOT-
dc.subjectWALKING-
dc.titleBiped robot state estimation using compliant inverted pendulum model-
dc.typeArticle-
dc.identifier.wosid000445718200004-
dc.identifier.scopusid2-s2.0-85050001478-
dc.type.rimsART-
dc.citation.volume108-
dc.citation.beginningpage38-
dc.citation.endingpage50-
dc.citation.publicationnameROBOTICS AND AUTONOMOUS SYSTEMS-
dc.identifier.doi10.1016/j.robot.2018.06.004-
dc.contributor.localauthorOh, Jun-Ho-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorBiped robot state estimation-
dc.subject.keywordAuthorCompliant inverted pendulum model-
dc.subject.keywordAuthorRobust state estimation-
dc.subject.keywordAuthorUndesired mechanical deformation-
dc.subject.keywordPlusHUMANOID ROBOT-
dc.subject.keywordPlusWALKING-
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 19 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0