Humanoid Momentum Estimation Using Sensed Contact Wrenches
This work addresses momentum estimation for humanoid robots, which is crucial for stable and dynamic control, but appears incremental as it builds on existing momentum dynamics without introducing a fundamentally new paradigm.
The authors tackled the problem of estimating momentum-related quantities for humanoid robot control by developing estimators based on momentum dynamics, avoiding issues from simplified models like the Linear Inverted Pendulum Model, and evaluated their performance against previous approaches.
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we present estimators based on the momentum dynamics of the robot. By using this simple yet dynamically-consistent model, we avoid the issues of using simplified models for estimation. We develop an estimator for the center of mass and full momentum which can be reformulated to estimate center of mass offsets as well as external wrenches applied to the robot. The observability of these estimators is investigated and their performance is evaluated in comparison to previous approaches.