Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance

  title={Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance},
  author={Renaud Ronsse and Stefano Rossi and Nicola Vitiello and Tommaso Lenzi and Bram Koopman and Herman van der Kooij and Maria Chiara Carrozza and Auke Jan Ijspeert},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  • R. Ronsse, S. Rossi, +5 authors A. Ijspeert
  • Published 24 December 2012
  • Computer Science, Engineering
  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Inferring temporal derivatives (like velocity and acceleration) from a noisy position signal is a well-known challenge in control engineering, due to the intrinsic trade-off between noise filtering and estimation bandwidth. To tackle this problem, in this paper we propose a new approach specifically designed for periodic movements. This approach uses an adaptive oscillator as fundamental building block. It is a tool capable of synchronizing to a periodic input while learning its features… Expand
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