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Conference Paper

State Estimation for a Humanoid Robot


Righetti,  Ludovic
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;


Schaal,  Stefan
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Rotella, N., Bloesch, M., Righetti, L., & Schaal, S. (2014). State Estimation for a Humanoid Robot. In Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (pp. 952-958). IEEE. doi:10.1109/IROS.2014.6942674.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0024-D321-C
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by adding the rotational constraints imposed by the humanoid's flat feet. As in previous work, the proposed Extended Kalman Filter accommodates contact switching and makes no assumptions about gait or terrain, making it applicable on any humanoid platform for use in any task. A nonlinear observability analysis is performed on both the point-foot and flat-foot filters and it is concluded that the addition of rotational constraints significantly simplifies singular cases and improves the observability characteristics of the system. Results on a simulated walking dataset demonstrate the performance gain of the flat-foot filter as well as confirm the results of the presented observability analysis.