Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer

  title={Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer},
  author={Mehdi Benallegue and Abdelaziz Benallegue and Yacine Chitour},
  journal={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint for which there is no sensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory for balance control for a humanoid robot and all tasks requiring verticality. Our method obtains tilt estimations using joints encoders and inertial measurements given by an IMU equipped with triaxial accelerometer and gyrometer… Expand
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