Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

@article{Ronsse2013RealTimeEO,
  title={Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators},
  author={Renaud Ronsse and Stefano Marco Maria De Rossi and Nicola Vitiello and Tommaso Lenzi and Maria Chiara Carrozza and Auke Jan Ijspeert},
  journal={IEEE Transactions on Robotics},
  year={2013},
  volume={29},
  pages={783-791}
}
Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state regime, by using adaptive oscillators. Our method combines the advantages of introducing no delay, and filtering out the high-frequency noise. We expect this method to be useful in control applications requiring undelayed but smooth estimates… CONTINUE READING
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Feedforward support of human walking

  • W. van Dijk, B. Koopman, R. Ronsse, H. van der Kooij
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Automatic resonance tuning and feedforward learning of biped walking using adaptive oscillators

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