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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21230/18:00325864

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Control Systems Technology

ISSN

1063-6536

e-ISSN

—

Svazek periodika

26

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

1500-1507

Kód UT WoS článku

000435195200031

EID výsledku v databázi Scopus

2-s2.0-85021793459