Experimental comparison of several posture estimation solutions for biped robot Rabbit

Experimental comparison of several posture estimation solutions for biped robot Rabbit

Experimental validation of absolute orientation estimation solutions is displayed for the dynamical stable five-link biped robot Rabbit during a walking gait. The objective is to prove the technical feasibility of posture online software estimation in order to remove sensors. Finally, this paper pre...

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Bibliographic Details
Published in:2008 IEEE International Conference on Robotics and Automation pp. 1270 - 1275
Main Authors: Aoustin, Y., Plestan, F., Lebastard, V.
Format: Conference Proceeding
Language:English
Published: IEEE 01-05-2008
Subjects:
Convergence
Legged locomotion
Motion control
Observability
Observers
Phase estimation
Rabbits
Robot kinematics
Robot sensing systems
Robotics and automation
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Summary:Experimental validation of absolute orientation estimation solutions is displayed for the dynamical stable five-link biped robot Rabbit during a walking gait. The objective is to prove the technical feasibility of posture online software estimation in order to remove sensors. Finally, this paper presents the first experimental results of walking biped robot posture estimation.
ISBN:1424416469
9781424416462
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2008.4543378