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An EKF-based approach for estimating leg stiffness during walking.
Claudia Ochoa-Diaz
Henrique M. T. Menegaz
Antônio Padilha Lanari Bó
Geovany A. Borges
Published in:
EMBC (2013)
Keyphrases
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walking robot
biped robot
humanoid robot
gait patterns
kalman filter
feedback loop
limit cycle
extended kalman filter
rigid body
kalman filtering
legged locomotion
neural network
biologically inspired
walking speed
estimation process
disturbance rejection
control strategy