Real-time foot attitude estimation for a humanoid robot based on inertial sensors and force sensor.
Jianxi LiQiang HuangWeimin ZhangZhangguo YuKejie LiPublished in: ROBIO (2008)
Keyphrases
- inertial sensors
- humanoid robot
- sensor fusion
- real time
- position and orientation
- inertial measurement unit
- extended kalman filter
- markerless
- motion capture
- motion sequences
- human motion
- multi modal
- motion tracking
- motion planning
- estimation accuracy
- multi sensor
- kalman filter
- motion estimates
- viewpoint
- state estimation
- estimation process
- robot arm
- augmented reality