Cargando…

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...

Descripción completa

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

Ejemplares similares

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems
por: Mikolajczyk, Tadeusz, et al.
Publicado: (2022)

Bipedal robotic walking control derived from analysis of human locomotion
por: Meng, Lin, et al.
Publicado: (2018)

Modeling, simulation and optimization of bipedal walking
por: Mombaur, Katja, et al.
Publicado: (2013)

Haptic feedback helps bipedal coordination
por: Roelofsen, Eefje G. J., et al.
Publicado: (2016)

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
por: Wu, Qiuxuan, et al.
Publicado: (2022)

Torque Curve Optimization of Ankle Push-Off in Walking Bipedal Robots Using Genetic Algorithm
por: Ji, Qiaoli, et al.
Publicado: (2021)

Anticipatory Control of Momentum for Bipedal Walking on Uneven Terrain
por: Darici, Osman, et al.
Publicado: (2020)

Fast Online Optimization for Terrain-Blind Bipedal Robot Walking With a Decoupled Actuated SLIP Model
por: Wang, Ke, et al.
Publicado: (2022)

Hybrid Momentum Compensation Control by Using Arms for Bipedal Dynamic Walking
por: Gao, Zhifa, et al.
Publicado: (2023)

Neuromuscular control pattern in rhesus monkeys during bipedal walking
por: Wei, Rui-Han, et al.
Publicado: (2019)

Human bipedalism and body-mass index
por: Yi, Su Do, et al.
Publicado: (2017)

Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning
por: Zhu, Jiahui, et al.
Publicado: (2021)

A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain
por: Joe, Hyun-Min, et al.
Publicado: (2019)

Deep Learning Methods for Speed Estimation of Bipedal Motion from Wearable IMU Sensors
por: Justa, Josef, et al.
Publicado: (2022)

Optimal regulation of bipedal walking speed despite an unexpected bump in the road
por: Darici, Osman, et al.
Publicado: (2018)

Implementation of Deep Deterministic Policy Gradients for Controlling Dynamic Bipedal Walking
por: Liu, Chujun, et al.
Publicado: (2019)

Unexpected Terrain Induced Changes in Cortical Activity in Bipedal-Walking Rats
por: Liu, Honghao, et al.
Publicado: (2021)

Functional significance of vertical free moment for generation of human bipedal walking
por: Negishi, Takuo, et al.
Publicado: (2023)

Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment
por: Hong, Young-Dae
Publicado: (2019)

Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot
por: Dangol, Pravin, et al.
Publicado: (2021)

State Derivation of a 12-Axis Gyroscope-Free Inertial Measurement Unit
por: Lu, Jau-Ching, et al.
Publicado: (2011)

Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking
por: Meng, Xiang, et al.
Publicado: (2023)

Finite element analysis of load transition on sacroiliac joint during bipedal walking
por: Toyohara, Ryota, et al.
Publicado: (2020)

Editorial: Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted Locomotion
por: Torricelli, Diego, et al.
Publicado: (2019)

A Physical Model Suggests That Hip-Localized Balance Sense in Birds Improves State Estimation in Perching: Implications for Bipedal Robots
por: Urbina-Meléndez, Darío, et al.
Publicado: (2018)

Making Bipedal Robot Experiments Reproducible and Comparable: The Eurobench Software Approach
por: Remazeilles, Anthony, et al.
Publicado: (2022)

Standing Balance Control of a Bipedal Robot Based on Behavior Cloning
por: Bong, Jae Hwan, et al.
Publicado: (2022)

Bipedal locomotion in zoo apes: Revisiting the hylobatian model for bipedal origins
por: Rosen, Kyle H., et al.
Publicado: (2022)

Extracting Kinematic Parameters for Monkey Bipedal Walking from Cortical Neuronal Ensemble Activity
por: Fitzsimmons, Nathan A., et al.
Publicado: (2009)

Surprising trunk rotational capabilities in chimpanzees and implications for bipedal walking proficiency in early hominins
por: Thompson, Nathan E., et al.
Publicado: (2015)

Mechatronic Wearable Exoskeletons for Bionic Bipedal Standing and Walking: A New Synthetic Approach
por: Onose, Gelu, et al.
Publicado: (2016)

DNA bipedal motor walking dynamics: an experimental and theoretical study of the dependency on step size
por: Khara, Dinesh C, et al.
Publicado: (2018)

Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
por: Owaki, Dai, et al.
Publicado: (2021)

Time-Varying Functional Connectivity of Rat Brain during Bipedal Walking on Unexpected Terrain
por: Liu, Honghao, et al.
Publicado: (2023)

Benchmarking Stability of Bipedal Locomotion Based on Individual Full Body Dynamics and Foot Placement Strategies–Application to Impaired and Unimpaired Walking
por: Ho Hoang, Khai-Long, et al.
Publicado: (2018)

Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping
por: Liu, Xiangxiao, et al.
Publicado: (2018)

Spinal Cord Injury-Induced Changes in Encoding and Decoding of Bipedal Walking by Motor Cortical Ensembles
por: Hu, Dingyin, et al.
Publicado: (2021)

Cascade Strand Displacement and Bipedal Walking Based DNA Logic System for miRNA Diagnostics
por: Miao, Peng, et al.
Publicado: (2021)

Learning 3D Bipedal Walking with Planned Footsteps and Fourier Series Periodic Gait Planning
por: Wang, Song, et al.
Publicado: (2023)

A parallel heterogeneous policy deep reinforcement learning algorithm for bipedal walking motion design
por: Li, Chunguang, et al.
Publicado: (2023)

Cannot write session to /tmp/vufind_sessions/sess_6cvjc3njrh51mefk3h23sug50v