Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking
We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed positio...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/3/4925 |
| _version_ | 1811263532280315904 |
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| author | Ching-Pei Chen Jing-Yi Chen Chun-Kai Huang Jau-Ching Lu Pei-Chun Lin |
| author_facet | Ching-Pei Chen Jing-Yi Chen Chun-Kai Huang Jau-Ching Lu Pei-Chun Lin |
| author_sort | Ching-Pei Chen |
| collection | DOAJ |
| description | We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed position can be yielded. This position is also equal to the CoM when the robot is in the standing posture suggested by the detailed CAD model of the robot. In addition, this body state is further utilized to provide sensory information for feedback control on a bipedal robot with walking gait. The overall control strategy includes the proposed body state estimator as well as the damping controller, which regulates the body position state of the robot in real-time based on instant and historical position tracking errors. Moreover, a posture corrector for reducing unwanted torque during motion is addressed. The body state estimator and the feedback control structure are implemented in a child-size bipedal robot and the performance is experimentally evaluated. |
| first_indexed | 2024-04-12T19:45:54Z |
| format | Article |
| id | doaj.art-ec004f1551c1415ca29ad3aa9d0d258c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-12T19:45:54Z |
| publishDate | 2015-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ec004f1551c1415ca29ad3aa9d0d258c2022-12-22T03:18:57ZengMDPI AGSensors1424-82202015-02-011534925494610.3390/s150304925s150304925Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable WalkingChing-Pei ChenJing-Yi ChenChun-Kai HuangJau-Ching LuPei-Chun LinWe report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed position can be yielded. This position is also equal to the CoM when the robot is in the standing posture suggested by the detailed CAD model of the robot. In addition, this body state is further utilized to provide sensory information for feedback control on a bipedal robot with walking gait. The overall control strategy includes the proposed body state estimator as well as the damping controller, which regulates the body position state of the robot in real-time based on instant and historical position tracking errors. Moreover, a posture corrector for reducing unwanted torque during motion is addressed. The body state estimator and the feedback control structure are implemented in a child-size bipedal robot and the performance is experimentally evaluated.http://www.mdpi.com/1424-8220/15/3/4925body state estimatorsensor fusionextended Kalman filterbipedal robotZMPpreview control |
| spellingShingle | Ching-Pei Chen Jing-Yi Chen Chun-Kai Huang Jau-Ching Lu Pei-Chun Lin Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking Sensors body state estimator sensor fusion extended Kalman filter bipedal robot ZMP preview control |
| title | Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking |
| title_full | Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking |
| title_fullStr | Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking |
| title_full_unstemmed | Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking |
| title_short | Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking |
| title_sort | sensor data fusion for body state estimation in a bipedal robot and its feedback control application for stable walking |
| topic | body state estimator sensor fusion extended Kalman filter bipedal robot ZMP preview control |
| url | http://www.mdpi.com/1424-8220/15/3/4925 |
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