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Enhanced Robotic Limb Identification Through Internal Sensors

To improve robotic limb identification, internal sensors are utilized in this study with a focus on inertial parameters estimation. The arms, legs, and joints of the robot are precisely analyzed, allowing for accurate pose determination.

trenton-dempsey
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Enhanced Robotic Limb Identification Through Internal Sensors

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  1. B0 = Base-link B1 to B6 = right leg B7 to B12 = left leg B13 to B16 = right arm B17 to B20 = left arm 例１：盛り合わせ小型ヒューマノイドロボット

  2. 例１：盛り合わせ小型ヒューマノイドロボット例１：盛り合わせ小型ヒューマノイドロボット • Arms of small dimensions • Associated inertial parameters small and difficult to estimate with respect to the sensors resolution • To avoid this lack of information: • upper limbs fixed in a pose • Links B13 to B20 attached to based-link B0 • 94 base parameters to identify

  3. 実験結果

  4. 例２：内界センサー大型ヒューマノイドロボット例２：内界センサー大型ヒューマノイドロボット 30 自由度

  5. 内界センサ • ジャイロ • エンコーダ • 足首力センサ ＋フィルタリング

  6. 内界センサを使用した場合

  7. 内界センサを使用した場合

  8. センサオフセット同定＋足先の同定

  9. 全リンクの同定 • 9種類の動作 • 足踏み • 歩く　（前向き） • 歩く　（後ろ向き） • 4　「Conductor Like Motion」（2A2） ⇒　同定には３つの動作を選んだ

  10. 実験結果 -検証結果 Walk motion Wfwd1 Conductor Like CL1 Obtained from the force sensors ΣJk1Fk Obtained from identified data Y B1ϕB Obtained from CAD data Y B1ϕBCAD

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