mc_residual_estimation

Overview

The mc_residual_estimation plugin estimates external forces acting on a robot by fusing multiple data sources:

• A momentum-based residual method
• Joint torque sensor measurements
• Force/Torque (F/T) sensor readings (if available)

This approach improves the accuracy of external force estimation by combining multiple sources of information, making it suitable for applications such as contact detection, force control, and robotic interaction with the environment.

Features

• Fusion of multiple force estimation methods
• Adaptable to different robots with joint torque sensors
• Compatible with various F/T sensors
• Real-time external force estimation
• Tested on the Kinova Gen3 cobot with a Bota Sensone F/T sensor

Requirements

• mc_rtc: A modular framework for real-time robot control
• mc_ros_force_sensor (only required if the F/T sensor communicates via ROS1/2)

Installation

It is recommended to use mc_rtc superbuild to install the plugin. However, you can install it as a standalone, like the following. Ensure you have mc_rtc installed on your system. If your F/T sensor requires ROS, install mc_ros_force_sensor as well. Then, clone and build the plugin:

cd ~/workspace/src  # Or any preferred workspace
git clone https://github.com/bastien-muraccioli/mc_residual_estimation
cd mc_residual_estimation
mkdir build && cd build
cmake ..
make
sudo make install

Usage

To enable the plugin in mc_rtc, add the following entry in your configuration file ($HOME/.config/mc_rtc/mc_rtc.yaml):

Plugins: ExternalForcesEstimator

Configuration

You can create a configuration file at ($HOME/.config/mc_rtc/plugins/ExternalForcesEstimator.yaml), to define:

• Filtering gains
• Reference frame of the F/T sensor
• Plugins parameters

Example:

residual_gain: 10
reference_frame: FT_sensor_wrench
use_force_sensor: false
ros_force_sensor: true

Adapting to Other Robots and Sensors

The plugin can be used with different robots and F/T sensors as long as:

• The robot has joint torque sensors
• The F/T sensor can be integrated into mc_rtc

For new robot models, modify the configuration files to reflect the correct sensor names and kinematic parameters.