SVM-Based State Estimation of Biped Robot

Chengzhi Gao, Ye Xie, Lingyu Kong, Xing Yu Chen, Anhuan Xie, Dan Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

Currently, the research of biped robots is becoming more and more popular, the kinematics-based state estimation, as an important precondition for its dynamic walking, has also become the focus of many researchers. Owing to the hybrid dynamics of biped robot, ground contact of each foot has to be previously evaluated to complete state estimation when using kinematics method. The contribution of this paper is to introduce the soft SVM to detect the contact phase. This SVM-based method free biped from the use of force sensors, which are highly vulnerable under the impact between feet and contact surfaces. Moreover, accurate dynamic modelling is not requisited. These two advantages indicate the strong robustness of SVM-based contact detection. Based on this contact detection method, the paper studies the state fusion method by applying extended Kalman filter to combine kinematics estimation with IMU data. Finally, the SVM-based contact detection algorithm and the complete state fusion method are both verified on our biped robot, with several experiments. The accuracy of the SVM-based method is validated by the comparison with force sensor based method. In addition, in contrast to torque-based method, its accuracy does not highly rely on the selection of algorithm parameters, like torque threshold.

Original languageEnglish
Title of host publication2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages41-47
Number of pages7
ISBN (Electronic)9780738132051
DOIs
Publication statusPublished - 3 Feb 2021
Externally publishedYes
Event7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021 - Virtual, Budapest, Hungary
Duration: 3 Feb 20215 Feb 2021

Publication series

Name2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021

Conference

Conference7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
Country/TerritoryHungary
CityVirtual, Budapest
Period3/02/215/02/21

Keywords

  • biped robot
  • extended Kalman filter
  • soft margin support vector machine
  • state estimate

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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