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  State Estimation for a Humanoid Robot

Rotella, N., Bloesch, M., Righetti, L., & Schaal, S. (2014). State Estimation for a Humanoid Robot. In Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (pp. 952-958). IEEE. doi:10.1109/IROS.2014.6942674.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0024-D321-C Version Permalink: http://hdl.handle.net/11858/00-001M-0000-0024-D322-A
Genre: Conference Paper

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 Creators:
Rotella, N., Author
Bloesch, M., Author
Righetti, Ludovic1, Author              
Schaal, Stefan1, Author              
Affiliations:
1Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497646              

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Free keywords: Abt. Schaal
 Abstract: This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by adding the rotational constraints imposed by the humanoid's flat feet. As in previous work, the proposed Extended Kalman Filter accommodates contact switching and makes no assumptions about gait or terrain, making it applicable on any humanoid platform for use in any task. A nonlinear observability analysis is performed on both the point-foot and flat-foot filters and it is concluded that the addition of rotational constraints significantly simplifies singular cases and improves the observability characteristics of the system. Results on a simulated walking dataset demonstrate the performance gain of the flat-foot filter as well as confirm the results of the presented observability analysis.

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 Dates: 2014
 Publication Status: Published online
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: BibTex Citekey: rotellaIROS2014
DOI: 10.1109/IROS.2014.6942674
 Degree: -

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Title: IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Place of Event: Chicago, IL
Start-/End Date: 2014-09-14 - 2014-09-18

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Title: Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 952 - 958 Identifier: -