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arXiv · 2410.12345

A Data-driven Contact Estimation Method for Wheeled-Biped Robots

Ü. Bora Gökbakan·Frederike Dümbgen·Stéphane Caron
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Abstract

Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We design a contact estimator that is suitable for the emerging wheeled-biped robot types that do not have these features. To this end, we propose a Bayes filter in which update steps are learned from real-robot torque measurements while prediction steps rely on inertial measurements. We evaluate this approach in extensive real-robot and simulation experiments. Our method achieves better performance while being considerably more sample efficient than a comparable deep-learning baseline.

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Ü. Bora Gökbakan, Frederike Dümbgen, Stéphane Caron. 2024-10-16. A Data-driven Contact Estimation Method for Wheeled-Biped Robots. https://arxiv.org/abs/2410.12345

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