Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer

Mehdi Benallegue 1 Abdelaziz Benallegue 2 Yacine Chitour 3
1 AIST - National Institute of Advanced Industrial Science and Technology
2 LISV - Laboratoire d'Ingénierie des Systèmes de Versailles
3 L2S - Laboratoire des signaux et systèmes
Abstract : The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory for balance control for a humanoid robot and all tasks requiring verticality. Our method obtains tilt estimations using encoders on other joints and inertial measurements given by an IMU equipped with tri-axial accelerometer and gyrometer mounted in any body of the robot. The estimator takes profit from the kinematic coupling resulting from the pivot constraint and uses the entire signal of accelerometer including linear accelerations. Almost Global Asymptotic convergence of the estimation errors is proven together with local exponential stability. The performance of the proposed observer is illustrated by simulations.
Type de document :
Communication dans un congrès
International Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. 2017
Liste complète des métadonnées
https://hal.archives-ouvertes.fr/hal-01499167
Contributeur : Mehdi Benallegue <>
Soumis le : mardi 30 octobre 2018 - 10:44:40
Dernière modification le : lundi 5 novembre 2018 - 10:00:24

Fichiers

benallegue2017humnanoids-final...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01499167, version 3
  • ARXIV : 1810.13168

Collections

TDS-MACS | UVSQ | CENTRALESUPELEC | LISV | SUP_LSS | L2S | UNIV-PARIS-SACLAY | SUP_SYSTEMES

Citation

Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour. Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. International Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. 2017. 〈hal-01499167v3〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

63

Téléchargements de fichiers

21

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD