권상주 오용환 2024-01-20T22:35:21Z 2024-01-20T22:35:21Z 2021-09-06 2008-09 1976-5622 https://pubs.kist.re.kr/handle/201004/133169 In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm. Korean 제어·로봇·시스템학회 이족보행 로봇의 무게중심 실시간 추정에 관한 연구 On the Estimation of the Center of Mass of an Autonomous Bipedal Robot Article 1 제어.로봇.시스템학회 논문지, v.14, no.9, pp.886 - 892 제어.로봇.시스템학회 논문지 14 9 886 892 scopus kci ART001273888 biped humanoid CoM(Center of Mass) ZMP observer Kalman filter