تقرير
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation
| العنوان: | Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation |
|---|---|
| المؤلفون: | Foster, James, McCrory, Stephen, DeBuys, Christian, Bertrand, Sylvain, Griffin, Robert |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a key requirement in the environments we envision deploying our robots: dull, dirty, and dangerous. External loads constitute a large model bias, which is typically unaccounted for. In this work, we enable our humanoid robot to engage in loco-manipulation tasks in the presence of significant model bias due to external loads. We propose an online estimation and control framework involving the combination of a physically consistent extended Kalman filter for inertial parameter estimation coupled to a whole-body controller. We showcase our results both in simulation and in hardware, where weights are mounted on Nadia's wrist links as a proxy for engaging in tasks where large external loads are applied to the robot. Comment: Submitted to the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2405.07901 |
| رقم الأكسشن: | edsarx.2405.07901 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |