A dual-stage complementary filter for dead reckoning of a biped robot via estimated contact point
A dual-stage complementary filter for dead reckoning of a biped robot via estimated contact point
复制标题
通过估计接触点对双足机器人进行航位推算的双级互补滤波器
DOI：
10.1109/humanoids.2013.7029964
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
T. Sugihara
中科院分区：
文献类型：
--
作者：
Ken Masuya;T. Sugihara
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 of the contact point with respect to the trunk, where the rotation and rolling of the support foot about the contact point are taken into account, (2) the high-frequency component of that is estimated by double-integral of acceleration, and (3) the crossover frequency to combine those estimations is automatically adjusted based on the ground reaction force. The efficacy of the proposed method was verified through some simulations.
