NP-MBO:A newton predictor-based momentum observer for interaction force estimation of legged robots  

作　　者：Zhengguo Zhu Weikai Ding Weiliang Zhu Daoling Qin Teng Chen Xuewen Rong Guoteng Zhang 

机构地区：[1]School of Control Science and Engineering,Shandong University,Jinan 250061,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第2期78-85,共8页仿生智能与机器人（英文）

基　　金：supported in part by the National Key Research and Development Program of China(2022YFB4701504);the National Natural Science Foundation of China(62373223 and 62203268);Youth Innovation and Technology Support Plan for Higher Education Institutions in Shandong Province(2023KJ029).

摘　　要：Swift perception of interaction forces is a crucial skill required for legged robots to ensure safe human-robot interaction and dynamic contact management.Proprioceptive-based interactive force is widely applied due to its outstanding cross-platform versatility.In this paper,we present a novel interactive force observer,which possesses superior dynamic tracking performance.We propose a dynamic cutoff frequency configuration method to replace the conventional fixed cutoff frequency setting in the traditional momentum-based observer(MBO).This method achieves a balance between rapid tracking and noise suppression.Moreover,to mitigate the phase lag introduced by the low-pass filtering,we cascaded a Newton Predictor(NP)after MBO,which features simple computation and adaptability.The precision analysis of this method has been presented.We conducted extensive experiments on the point-foot biped robot BRAVER to validate the performance of the proposed algorithm in both simulation and physical prototype.

关 键 词：Interaction force estimation Momentum-based observer Newton predictor Force control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]