Skip to Main content Skip to Navigation
Journal articles

Lyapunov-Stable Orientation Estimator for Humanoid Robots

Abstract : In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the kinematic data provided by contact information with the environment and using the IMU and joint encoders. We demonstrate how this operation can be used in the case of a fixed or a moving contact, allowing it to be employed for locomotion. We show how to use this velocity estimation within a selected two-stage state tilt estimator: (i) the first which has a global and quick convergence (ii) and the second which has smooth and robust dynamics. We provide new specific proofs of almost global Lyapunov asymptotic stability and local exponential convergence for this observer. Finally, we assess its performance by employing a comparative simulation and by using it within a closed-loop stabilization scheme for HRP-5P and HRP-2KAI robots performing whole-body kinematic tasks and locomotion.
Document type :
Journal articles
Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-02929331
Contributor : Mehdi Benallegue <>
Submitted on : Thursday, October 8, 2020 - 12:30:55 PM
Last modification on : Wednesday, October 14, 2020 - 4:21:58 AM

Files

tiltHumanoidsJournal.pdf
Files produced by the author(s)

Identifiers

Citation

Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, et al.. Lyapunov-Stable Orientation Estimator for Humanoid Robots. IEEE Robotics and Automation Letters, IEEE 2020, 5 (4), pp.6371-6378. ⟨10.1109/LRA.2020.3013854⟩. ⟨hal-02929331⟩

Share

Metrics

Record views

30

Files downloads

73