Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results

This paper deals with a planar biped. The aim of this paper is the estimation, during the imbalance phases of a walking cyclic gait, of its absolute orientation by only using the measurement of the actuated joint variables. The main contribution is the experimental evaluation of an original finite-t...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 27; no. 1; pp. 170 - 174
Main Authors:	Lebastard, Vincent, Aoustin, Yannick, Plestan, Franck
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01-02-2011 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Applied sciences Automatic Control Engineering Bipedal robot Computer Science Computer science; control theory; systems Control theory. Systems Estimating techniques Exact sciences and technology finite-time observer Gait Joints Kinematics Leg Legged locomotion Modelling and identification Observability Observers Orientation Phases Rabbits Robotics Robots Walking Legged locomotion Walking finite-time observer Gait Observer Unbalanced conditions System identification Bipedal walking Orientation Bipedal robot Robotics Posture
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Summary:	This paper deals with a planar biped. The aim of this paper is the estimation, during the imbalance phases of a walking cyclic gait, of its absolute orientation by only using the measurement of the actuated joint variables. The main contribution is the experimental evaluation of an original finite-time convergent-posture observer.
Bibliography:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	1552-3098 1941-0468
DOI:	10.1109/TRO.2010.2094410