DocumentCode
1865277
Title
Experimental comparison of several posture estimation solutions for biped robot Rabbit
Author
Aoustin, Y. ; Plestan, F. ; Lebastard, V.
Author_Institution
Ecole Centrale de Nantes, Univ. de Nantes, Nantes
fYear
2008
fDate
19-23 May 2008
Firstpage
1270
Lastpage
1275
Abstract
Experimental validation of absolute orientation estimation solutions is displayed for the dynamical stable five-link biped robot Rabbit during a walking gait. The objective is to prove the technical feasibility of posture online software estimation in order to remove sensors. Finally, this paper presents the first experimental results of walking biped robot posture estimation.
Keywords
legged locomotion; position measurement; Rabbit biped robot; absolute orientation estimation; online software estimation; posture estimation solutions; sensors; stable five-link biped robot; walking gait; Convergence; Legged locomotion; Motion control; Observability; Observers; Phase estimation; Rabbits; Robot kinematics; Robot sensing systems; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543378
Filename
4543378
Link To Document