Use of a kaman filter to estimate the absolute orientation in a bipedal robot

Abstract

Consulta en la Biblioteca ETSI Industriales (Riunet)

[EN] The system that has been worked with tries to replicate the bottom of a human trunk. It has a hip and two mechanical legs made of two metallic bars and two rotational joint, one should mimic the knee (q1 in the illustration) and the other one is the union of the leg to the hip (q2). Each union has its own independent DC motor which is an actual output of the system. There is also an IC board in each metallic bar of the leg, and each board provides useful information of the system because of the sensors it has, and it also provides the output actions to the associated DC motor.