A non-linear kinematics and dynamics estimator based on unscented Kalman filter with angular momentum for humanoid compliant walking.
Ren C. LuoAlexander ChangPei Chun ZhengPublished in: SII (2017)
Keyphrases
- unscented kalman filter
- dynamic model
- humanoid robot
- position and orientation
- state estimation
- kalman filter
- least squares
- experimental data
- visual tracking
- extended kalman filter
- maximum likelihood
- dynamical systems
- learning rate
- inertial sensors
- joint angles
- inverse kinematics
- degrees of freedom
- constant velocity
- motion capture
- neural network
- motion planning
- sensor fusion
- stereo camera
- control scheme
- kalman filtering