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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 13
  3. International Journal of Control, Automation and Systems : Volume 13, Issue 1, February 2015
  4. Sensor information analysis for a humanoid robot
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 13, Issue 6, December 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 5, October 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 4, August 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 3, June 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 2, April 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 1, February 2015
A survey on Markovian jump systems: Modeling and design
Leader-following consensus of double-integrator multi-agent systems with noisy measurements
Extended nonlinear observer canonical form depending on system output and auxiliary state
Research on gain scheduling controller of the networked control system with long delay
A new method of sensor fault diagnosis for under-measurement system based on space geometry approach
Robust H $_{∞}$ state feedback control of NCSs with Poisson noise and successive packet dropouts
Game theory approach to optimal control problem with multi-channel control
Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems
Closed form tuning equations for model predictive control of first-order plus fractional dead time models
Discrete-time fractional-order PID controller: Definition, tuning, digital realization and some applications
A unified design for feedback-feedforward control system to improve regulatory control performance
Approximate dynamic programming for two-player zero-sum game related to H $_{∞}$ control of unknown nonlinear continuous-time systems
Actuator fault diagnosis in mechanical systems — Fault power estimation approach
Adaptive fault diagnosis and active tolerant control for wind energy conversion system
Adaptive observer for estimating the parameters of an HIV model with mutants
Weighted average extended FIR filter bank to manage the horizon size in nonlinear FIR filtering
Predictive virtual lane method using relative motions between a vehicle and lanes
Modeling and input-output decoupling of hypersonic vehicles
Physical layer privacy scheme for networked control systems
Sensor information analysis for a humanoid robot
Coordinated control method of space-tethered robot system for tracking optimal trajectory
Design of static balancing mechanism for face robot
Directional pedestrian counting with a hybrid map-based model
H $_{∞}$ synchronization of two different discrete-time chaotic systems via a unified model
An adaptive discrete-time ILC strategy using fuzzy systems for iteration-varying reference trajectory tracking
Segmentalized FCM-based tracking algorithm for zigzag maneuvering target
Fuzzy swinging-up with sliding mode control for third order cart-inverted pendulum system
Adaptive control of nonlinear pure-feedback systems with output constraints: Integral barrier Lyapunov functional approach
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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Sensor information analysis for a humanoid robot

Content Provider Springer Nature Link
Author Lee, Sooyong Oh, Paul Y.
Copyright Year 2015
Abstract For a humanoid robot to safely walk in unknown environments, various sensors are used to identify the surface condition and recognize any obstacles. The humanoid robot is not fixed on the surface and the base/orientation of the kinematics change while it is walking. Therefore, if the foot contact changes from the estimated due to the unknown surface condition, the kinematics results are not correct. The robot may not be able to perform the motion commands based on the incorrect surface condition. Some robots have built-in range sensors but it’s difficult to accurately model the surface from the sensor readings because the movement of the robot should be considered and the robot localization should have zero error for correct interpretation of the sensor readings. In this paper, three infrared range sensors are used in order to perceive the floor state. Covariance analysis is incorporated to consider the uncertainties. The accelerometer and gyro sensor are also used in order to detect the moment a foot hits the surface. This information provides correction to the motion planner and robot kinematics when the environment is not modeled correctly.
Starting Page 175
Ending Page 181
Page Count 7
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 13
Issue Number 1
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2014-12-18
Publisher Place Heidelberg
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Contact state estimation deadreckoning floor state estimation Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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