Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00475621" target="_blank" >RIV/67985556:_____/18:00475621 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/18:00325864
Result on the web
<a href="http://dx.doi.org/10.1109/TCST.2017.2709277" target="_blank" >http://dx.doi.org/10.1109/TCST.2017.2709277</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TCST.2017.2709277" target="_blank" >10.1109/TCST.2017.2709277</a>

Result language
angličtina
Original language name
Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots
Original language description
This brief studies the problem of parameter estimation and model identification for a class of underactuated mechanical systems modeled via the Euler–Lagrange formalism, such as underactuated walking robots. This problem is closely related with the measurement of the absolute orientation during walking. A novel identification method suited for this problemnwas proposed. The method takes advantage of the linear structure of the model with respect to estimated parameters. The resulting estimator is calculated iteratively and maximizesnthe likelihood of the data. The method was tested on both simulated and experimental data. Simulation was carried out for an underactuated walking robot with a distance meter tonmeasure absolute orientation. Laboratory experiment was carried out on a leg of a laboratory walking robot model equipped with a three-axis accelerometer and gyroscope to measure absolutenorientation. The method performs favorably in comparison with other benchmark estimation algorithms and both the simulation example and the laboratory experiment confirmed its highnpotential for the use in identification of underactuated robotic walkers.
Czech name
—
Czech description
—

Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20205 - Automation and control systems

Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)