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Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results

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3 Author(s)
Vincent Lebastard ; Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), Centre National de la Recherche Scientifique (CNRS), University of Nantes-Ecole des Mines de Nantes, 44307 Nantes, France ; Yannick Aoustin ; Franck Plestan

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.

Published in:

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