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Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results

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3 Author(s)
Lebastard, V. ; Inst. de Rech. en Commun. et Cybernetique de Nantes (IRCCyN), Univ. of Nantes-Ecole des Mines de Nantes, Nantes, France ; Aoustin, Y. ; Plestan, F.

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.

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Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 1 )