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
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2094410
