Real-time foot attitude estimation for a humanoid robot based on inertial sensors and force sensor

Jianxi Li*, Qiang Huang, Weimin Zhang, Zhangguo Yu, Kejie Li

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

This paper proposes a real-time foot attitude estimation approach consists of a foot attitude acquisition and an auto-calibration method. First, overview of the foot attitude estimation system is presented, including a tri-axis MEMS accelerometer, three angular rate gyroscopes and a data acquisition and processing unit. Then, the arithmetic of data processing and attitude acquisition is introduced. FIR digital filter is proposed to reduce the influence of inherent noise of the sensors, and combination of acceleration and angular rate is adopted to calculate the foot attitude. Finally, a special autocalibration method based on the force sensor equipped at the ankle of the humanoid robot is presented. The effectiveness of the foot attitude estimation system and the auto-calibration method is confirmed by experiments with our developed humanoid robot.

源语言英语
主期刊名2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
出版商IEEE Computer Society
365-370
页数6
ISBN(印刷版)9781424426799
DOI
出版状态已出版 - 2009
活动2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, 泰国
期限: 21 2月 200926 2月 2009

出版系列

姓名2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

会议

会议2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
国家/地区泰国
Bangkok
时期21/02/0926/02/09

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