Robotics Group, Faculty of Mathematics and Computer Science, University of Bremen, 28359 Bremen, Germany.
Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), 28359 Bremen, Germany.
Sensors (Basel). 2022 Dec 15;22(24):9853. doi: 10.3390/s22249853.
Regardless of recent advances, humanoid robots still face significant difficulties in performing locomotion tasks. Among the key challenges that must be addressed to achieve robust bipedal locomotion are dynamically consistent motion planning, feedback control, and state estimation of such complex systems. In this paper, we investigate the use of an external motion capture system to provide state feedback to an online whole-body controller. We present experimental results with the humanoid robot RH5 performing two different whole-body motions: squatting with both feet in contact with the ground and balancing on one leg. We compare the execution of these motions using state feedback from (i) an external motion tracking system and (ii) an internal state estimator based on inertial measurement unit (IMU), forward kinematics, and contact sensing. It is shown that state-of-the-art motion capture systems can be successfully used in the high-frequency feedback control loop of humanoid robots, providing an alternative in cases where state estimation is not reliable.
尽管最近取得了一些进展，但人形机器人在执行运动任务方面仍然面临着重大困难。为了实现稳健的双足运动，必须解决的关键挑战包括动态一致的运动规划、反馈控制以及此类复杂系统的状态估计。在本文中，我们研究了使用外部运动捕捉系统为在线全身控制器提供状态反馈。我们展示了人形机器人 RH5 执行两种不同全身运动的实验结果：双脚着地蹲下和单脚平衡。我们比较了使用（i）外部运动跟踪系统和（ii）基于惯性测量单元（IMU）、正向运动学和接触感知的内部状态估计器的状态反馈执行这些运动的情况。结果表明，最先进的运动捕捉系统可以成功地用于人形机器人的高频反馈控制环中，为状态估计不可靠的情况提供了一种替代方案。
