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Title
Japanese:反力情報への観測誤差モデル適応による二脚ロボットの位置推定カルマンフィルタ 
English: 
Author
Japanese: 舛屋 賢, 杉原 知道.  
English: Ken Masuya, Tomomichi Sugihara.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会講演概要集 
English: 
Volume, Number, Page        
Published date May 2014 
Publisher
Japanese:一般社団法人日本機械学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract A novel Kalman filter for dead reckoning of biped robots is proposed. In order to reflect the change of the foot contact condition, its observation error model is adaptively varied in accordance with the reaction force. For the rolling or rotation happened on the supporting foot, the minimum velocity point (MVP) which proposed in our previous work is introduced into the kinematics computation. MVP estimation is sensitive to the attitude error, so that we lower that influence by taking the ground reaction force at the contact point into consideration. The efficacy of the proposed method is verified through simulations.

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