Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed positio...

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Bibliographic Details
Main Authors: Ching-Pei Chen, Jing-Yi Chen, Chun-Kai Huang, Jau-Ching Lu, Pei-Chun Lin
Format: Article
Language:English
Published: MDPI AG 2015-02-01
Series:Sensors
Subjects:
body state estimator
sensor fusion
extended Kalman filter
bipedal robot
ZMP
preview control
Online Access:http://www.mdpi.com/1424-8220/15/3/4925

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