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Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces

Ogawa, Yusuke and Ott, Christian and Venture, Gentiane (2014) Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces. In: IEEE-RAS International Conference on Humanoid Robots. 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spanien.

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Abstract

This paper describes the identification of the humanoid robot TORO using two methods: the classical joint torque based identification, and the more recent base-link approach. In our past research we have developed an identification method for dynamics identification of humanoids using only the external forces because most humanoid robots are not equipped with torque sensors, and using the motor current requires a precise model of the transmission. With TORO it is now possible to measure the pure joint torque and thus to compare the efficiency of both methods for humanoid robots. This paper compares the joint torque measured by the torque sensor and the joints torque predicted by the inverse dynamics, using the identified dynamic parameters as well as the contact forces measured with the ankle force torque sensors and the predicted one using the dynamics model and the identified parameters. We discuss how the identified parameters differs using each method both with direct validation and cross validation.

Item URL in elib:https://elib.dlr.de/90823/
Document Type:Conference or Workshop Item (Poster)
Title:Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ogawa, Yusukeyusukez2000 (at) gmail.comUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Venture, Gentianeventure (at) cc.tuat.ac.jpUNSPECIFIED
Date:2014
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Humanoid Robots, Identification
Event Title:2014 IEEE-RAS International Conference on Humanoid Robots
Event Location:Madrid, Spanien
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:09 Jan 2015 10:07
Last Modified:12 Dec 2017 22:22

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