Henrique Marra Menegaz

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This work addresses the problem of stochastic state estimation for hybrid Markovian switching systems. The proposed Multiple Hypotheses Mixing Filter (MHMF) combines the Generalized Pseudo Bayes' (GPB) multiple hypotheses tracking with the Interacting Multiple Model's (IMM) estimates mixing in order to improve performance, the later being a particular case(More)
The spring-like behavior is an inherent condition for human walking and running. Since leg stiffness k(leg) is a parameter that cannot be directly measured, many techniques has been proposed in order to estimate it, most of them using force data. This paper intends to address this problem using an Extended Kalman Filter (EKF) based on the Spring-Loaded(More)
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