A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench
Ken Masuya, Ko Ayusawa
Abstract
The state estimation plays an essential role in controlling humanoid robots. Among the state estimation for humanoid robots, this paper targets the center of mass, the base kinematics, and the external wrench. We summarize the basic ideas to estimate them and briefly review the recent state estimators.
Topics & Concepts
Humanoid robotWrenchKinematicsBase (topology)RobotEstimatorState (computer science)Center of mass (relativistic)State estimatorComputer scienceEngineeringControl theory (sociology)SimulationControl engineeringArtificial intelligenceMathematicsControl (management)Mechanical engineeringAlgorithmPhysicsStatisticsEnergy–momentum relationClassical mechanicsMathematical analysisRobotic Locomotion and ControlWinter Sports Injuries and PerformanceProsthetics and Rehabilitation Robotics