Joint friction estimation for walking bipeds

Hashlamon, Iyad and Erbatur, Kemalettin (2016) Joint friction estimation for walking bipeds. Robotica, 34 (7). pp. 1610-1629. ISSN 0263-5747 (Print) 1469-8668 (Online)

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This paper proposed a new approach for the joint friction estimation of non-slipping walking biped robots. The proposed approach is based on the combination of a measurement-based strategy and a model-based method. The former is used to estimate the joint friction online when the foot is in contact with the ground, while the latter adopts a friction model to represent the joint friction when the leg is swinging. The measurement-based strategy utilizes the measured ground reaction forces (GRF) and the readings of an inertial measurement unit (IMU) located at the robot body. Based on these measurements, the joint angular accelerations and the body attitude and velocity are estimated. The aforementioned measurements and estimates are used in a reduced dynamical model of the biped. However, when the leg is swinging, this strategy is inapplicable. Therefore, a friction model is adopted. Its parameters are identified adaptively using the estimated online friction whenever the foot is in contact. The estimated joint friction is used in the feedback torque control signal. The proposed approach is validated using the full-dynamics of 12-DOF biped model. By using this approach, the robot center of mass (CoM) position error is reduced by 10% which demonstrates the effectiveness of this approach.
Item Type: Article
Uncontrolled Keywords: Humanoid robot; Joint friction; Non-slipping feet; CoM states; Biped model
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 12 Nov 2016 12:47
Last Modified: 12 Nov 2016 12:47

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