The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Velocity Estimation of a Compass Gait Biped Robot by Using Impact Condition and Initial Condition Reset

충돌 조건과 초기치 리셋을 이용한 컴퍼스 이족 로봇의 속도 추정

  • Published : 2009.11.01
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Abstract

In this paper, a simple method of angle velocity estimation is presented for a passive dynamic biped robot. The estimation problem is not an easy task because its dynamic model is a hybrid system involved with an impact condition. Instead of designing a complex observer for hybrid systems we simply utilize the impact condition to reset the initial condition of the high-pass filter when the non-support leg hits the slope. The approach has been verified by simulation results.

Keywords

References

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