• DocumentCode
    1443673
  • Title

    Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results

  • Author

    Lebastard, Vincent ; Aoustin, Yannick ; Plestan, Franck

  • Author_Institution
    Inst. de Rech. en Commun. et Cybernetique de Nantes (IRCCyN), Univ. of Nantes-Ecole des Mines de Nantes, Nantes, France
  • Volume
    27
  • Issue
    1
  • fYear
    2011
  • Firstpage
    170
  • Lastpage
    174
  • Abstract
    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.
  • Keywords
    humanoid robots; observers; bipedal robot; cyclic gait; finite time convergent posture observer; planar biped; Joints; Leg; Legged locomotion; Observability; Observers; Rabbits; Bipedal robot; finite-time observer;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2010.2094410
  • Filename
    5709548
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1443673