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Velocity Estimation of a Compass Gait Biped Robot by Using Impact Condition and Initial Condition Reset  

Son, Young-Ik (명지대학교 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.58, no.11, 2009 , pp. 2266-2268 More about this Journal
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
Compass Gait Biped; Passive Dynamic Walking; Velocity Estimation; Impact Condition;
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