Abstract
In the condition of torque senseless, especially for miniaturized quadruped robot with simple position-velocity motors, the foot-to-ground contact detection is not easy to be implemented. In this paper, we propose a spring-loaded inverted pendulum (SLIP) model-based algorithm for contact detection without torque sensors. The algorithm combines Kalman filter and SLIP model for foot-to-ground contact detection. Under this detection scheme, the foot-to-ground contact can be detected effectively in a sensor cycle. The proposed algorithm shows the ability of error correction and high robustness in the face of the wrong data of actual sensors and the undesirable fluctuation. Even if the robot is equipped with torque sensors, considering the possibility of sensors damage, the algorithm can be used as a supplement in long-term operation. The feasibility of the proposed algorithm is verified via a simulation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Sotoudehnejad, V., Takhmar, A., Kermani, M.R., Polushin, I.G.: Counteracting modeling errors for sensitive observer-based manipulator collision detection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4315–4320 (2012)
Manuelli, L., Tedrake, R.: Localizing external contact using proprioceptive sensors: The Contact Particle Filter. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5062–5069 (2016)
Bajo, A., Simaan, N.: Kinematics-based detection and localization of contacts along multisegment continuum robots. IEEE Trans. Rob. 28(2), 291–302 (2012)
Luca, A.D., Albu-Schaffer, A., Haddadin, S., Hirzinger, G.: Collision detection and safe reaction with the DLR-III LIGHTWEIGHT manipulator arm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1623–1630 (2006)
Hwangbo, J., Bellicoso, C.D., Fankhauser, P., Hutter, M.: Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3872–3878 (2016)
Camurri, M., et al.: Probabilistic contact estimation and impact detection for state estimation of quadruped robots. IEEE Robot. Autom. Lett. 2(2), 1023–1030 (2017)
Barasuol, V., Buchli, J., Semini, C., Frigerio, M., De Pieri, E.R., Caldwell, D.G.: A reactive controller framework for quadrupedal locomotion on challenging terrain. In: IEEE International Conference on Robotics and Automation, pp. 2554–2561 (2013)
Hyun, D.J., Seok, S., Lee, J., Kim, S.: High speed trot-running: implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah. Int. J. Robot. Res. 33(11), 1417–1445 (2014)
Bledt, G., Wensing, P.M., Ingersoll, S., Kim, S.: Contact model fusion for event-based locomotion in unstructured terrains. In: IEEE International Conference on Robotics and Automation, pp. 1–8 (2018)
Hutter, M., Gehring, C., Höpflinger, M.A., Blösch, M., Siegwart, R.: Toward combining speed, efficiency, versatility, and robustness in an autonomous quadruped. IEEE Trans. Rob. 30(6), 1427–1440 (2014)
Liu, Y., Wensing, P.M., Schmiedeler, J.P., Orin, D.E.: Terrain-blind humanoid walking based on a 3-D actuated dual-SLIP model. IEEE Robot. Autom. Lett. 1(2), 1073–1080 (2016)
Dai, H., Tedrake, R.: Optimizing robust limit cycles for legged locomotion on unknown terrain. In: IEEE Conference on Decision and Control, pp. 1207–1213 (2015)
Wensing, P.M., Orin, D.E.: High-speed humanoid running through control with a 3D-SLIP model. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5134–5140 (2013)
Piovan, G., Byl, K.: Approximation and control of the SLIP model dynamics via partial feedback linearization and two-element leg actuation strategy. IEEE Trans. Rob. 32(2), 399–412 (2016)
Geyer, H., Seyfarth, A., Blickhan, R.: Spring-mass running: simple approximate solution and application to gait stability. J. Theor. Biol. 232(3), 315–328 (2005)
Chen, S.Y.: Kalman filter for robot vision: a survey. IEEE Trans. Industr. Electron. 59(11), 4409–4420 (2012)
Ma, J., Bajracharya, M., Susca, S., Matthies, L., Malchano, M.: Real-time pose estimation of a dynamic quadruped in GPS-denied environments for 24-hour operation. Int. J. Robot. Res. 35(6), 631–653 (2016)
Hurmuzlu, Y., Marghitu, D.B.: Rigid body collisions of planar kinematic chains with multiple contact point. Int. J. Robot. Res. 13(1), 82–92 (1994)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Yang, J., Sun, H., Wu, D., Chen, X., Wang, C. (2019). SLIP Model-Based Foot-to-Ground Contact Sensation via Kalman Filter for Miniaturized Quadruped Robots. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_1
Download citation
DOI: https://doi.org/10.1007/978-3-030-27541-9_1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27540-2
Online ISBN: 978-3-030-27541-9
eBook Packages: Computer ScienceComputer Science (R0)