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Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

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6 Author(s)
Renaud Ronsse ; Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering, Université catholique de Louvain , Louvain-la-Neuve, Belgium ; Stefano Marco Maria De Rossi ; Nicola Vitiello ; Tommaso Lenzi
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Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state regime, by using adaptive oscillators. Our method combines the advantages of introducing no delay, and filtering out the high-frequency noise. We expect this method to be useful in control applications requiring undelayed but smooth estimates of velocity and acceleration (e.g., velocity control and inverse dynamics) of quasi-periodic tasks (e.g., active vibration compensation, robot locomotion, and lower-limb movement assistance).

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 3 )