A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach.
Justin CarpentierMehdi BenallegueNicolas MansardJean-Paul LaumondPublished in: Humanoids (2015)
Keyphrases
- robot arm
- joint angles
- end effector
- inverse kinematics
- linear minimum mean square error
- maximum likelihood
- least squares
- position and orientation
- motion planning
- filtering method
- adaptive filtering
- dynamic model
- estimation algorithm
- confidence intervals
- filtering algorithm
- dynamical systems
- information filtering
- degrees of freedom
- maximum a posteriori
- error estimation
- filtering process
- variance estimator
- estimation error