View source for Publications:Estimation of the Trunk Attitude of a Humanoid by Data Fusion of Inertial Sensors and Joint Encoders

<div style='display: none'>
== Do not edit this section ==
</div>
{{PublicationSetupTemplate|Author=Siddhartha Khandelwal, Christine Chevallereau
|PID=641500
|Name=Khandelwal, Siddhartha [sidkha] (Högskolan i Halmstad [2804], Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE) [3905], Halmstad Embedded and Intelligent Systems Research (EIS) [3938], Laboratoriet för intelligenta system [6703]);Chevallereau, Christine (Ecole Centrale de Nantes, France) (IRCCyN, CNRS)
|Title=Estimation of the Trunk Attitude of a Humanoid by Data Fusion of Inertial Sensors and Joint Encoders
|PublicationType=Conference Paper
|ContentType=Refereegranskat
|Language=eng
|Journal=
|JournalISSN=
|Status=
|Volume=
|Issue=
|HostPublication=Nature-Inspired Mobile Robotics
|Conference=The 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2013),Sydney, Australia,14 - 17 July, 2013
|StartPage=822
|EndPage=830
|Year=2013
|Edition=
|Pages=
|City=Singapore
|Publisher=World Scientific
|Series=
|SeriesISSN=
|ISBN=978-981-4525-52-7;978-981-4525-54-1
|Urls=
|ISRN=
|DOI=
|ISI=
|PMID=
|ScopusId=
|NBN=urn:nbn:se:hh:diva-23363
|LocalId=
|ArchiveNumber=
|Keywords=Humanoid walking;Dynamic equilibrium;Attitude estimation;Instability detection;Sensor fusion;Inertial sensors;Joint encoders
|Categories=Robotteknik och automation (20201)
|ResearchSubjects=
|Projects=
|Notes=
|Abstract=<p>The major problem associated with the walking of humanoid robots is to maintain its dynamic equilibrium while walking. To achieve this one must detectgait instability during walking to apply proper fall avoidance schemes and bringback the robot into stable equilibrium. A good approach to detect gait instability is to study the evolution of the attitude of the humanoid's trunk. Mostattitude estimation techniques involve using the information from inertial sensors positioned at the trunk. However, inertial sensors like accelerometer andgyro are highly prone to noise which lead to poor attitude estimates that cancause false fall detections and falsely trigger fall avoidance schemes. In thispaper we present a novel way to access the information from joint encoderspresent in the legs and fuse it with the information from inertial sensors toprovide a highly improved attitude estimate during humanoid walk. Also if thejoint encoders' attitude measure is compared separately with the IMU's attitude estimate, then it is observed that they are dierent when there is a changeof contact between the stance leg and the ground. This may be used to detecta loss of contact and can be veried by the information from force sensorspresent at the feet of the robot. The propositions are validated by experimentsperformed on humanoid robot NAO.</p>
|Opponents=
|Supervisors=
|Examiners=
|Patent=
|ThesisLevel=
|Credits=
|Programme=
|Subject=
|Uppsok=
|DefencePlace=
|DefenceLanguage=
|DefenceDate=
|CreatedDate=2013-08-17
|PublicationDate=2013-08-17
|LastUpdated=2014-01-20
|diva=http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:641500}}
<div style='display: none'>

== Keep all hand-made modifications below ==
</div>{{PublicationDisplayTemplate}}