Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed positio...

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Detalles Bibliográficos
Autores principales: Chen, Ching-Pei, Chen, Jing-Yi, Huang, Chun-Kai, Lu, Jau-Ching, Lin, Pei-Chun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2015
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4435225/
https://www.ncbi.nlm.nih.gov/pubmed/25734644
http://dx.doi.org/10.3390/s150304925

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4435225/
https://www.ncbi.nlm.nih.gov/pubmed/25734644
http://dx.doi.org/10.3390/s150304925

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