ICRA 2012 Paper Abstract


Paper WeB310.1

Park, Young Jin (POSTECH), Lee, Hosun (Korea Institute of Science and Technology), Oh, Yonghwan (KIST), Chung, Wan Kyun (POSTECH)

Development of Kalman Filter based two-port Body Force Observer for the Flexible Joint: Design and Experiments

Scheduled for presentation during the Interactive Session "Interactive Session WeB-3" (WeB310), Wednesday, May 16, 2012, 11:30−12:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Force Control, Compliance and Impedance Control


One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman Filter based two-port Body Force OBserver(KF 2-port BFOB) was proposed to estimate two output torques from the motor-side port and the link-side port simultaneously using the two-port system dynamics, the joint angle and the sensor torque from the joint torque sensor based on the Kalman filter. The basic idea of KF 2-port BFOB is illustrated and its performance is verified by implementing the algorithm with disturbance observer(DOB) in the motor actuated one-DOF flexible joint robot. The experiments are executed in the planar situation (under the gravity-free condition) and in the vertical situation(under the gravity condition) respectively to verify the performance of KF 2-port BFOB. The results show something with conclusion



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