Estimation of absolute orientation for a bipedal robot: experimental results - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Robotics Année : 2011

Estimation of absolute orientation for a bipedal robot: experimental results

Résumé

This paper deals with a planar biped. The aim 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.

Domaines

Automatique
Fichier non déposé

Dates et versions

hal-00626499 , version 1 (26-09-2011)

Identifiants

  • HAL Id : hal-00626499 , version 1

Citer

Vincent Lebastard, Yannick Aoustin, Franck Plestan. Estimation of absolute orientation for a bipedal robot: experimental results. IEEE Transactions on Robotics, 2011, 27 (1), pp.170-174. ⟨hal-00626499⟩
93 Consultations
0 Téléchargements

Partager

Gmail Facebook X LinkedIn More