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A novel Kaiman filter to estimate position of a biped robot is proposed. It combines the kinematics and the double-integral of acceleration, only using internal sensors and achieving high-rate estimation. The kinematics computation is rooted to the anchoring pivot, which is the most invariant point in the foot with respect to the ground. The idea is the same with the authors previous method, but the...
This paper proposes a novel technique of dead reckoning for biped robots. The trunk position of a robot with respect to the inertial frame is estimated only using internal sensors in a short interval, so that it is available for high-rate feedback control. It is a complementary filter in which (1) the low-frequency component of the motion of the trunk is inversely computed from the relative motion...
In this paper we deal with the problem of automatically optimizing the gait of a robot for forward walking speed. Each different walking surface and/or the wear and tear of the robots determines the speed of the robot. This means that a specific gait for one surface may not be valid on another surface or even on the same surface some time later. Given a parametrized walk designed for the robot and...
Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation...
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