Non-linear ZMP based state estimation for humanoid robot locomotion

Stylianos Piperakis
Stylianos Piperakis

Humanoids, pp. 202-209, 2016.

Cited by: 7|Views5


This article presents a novel state estimation scheme for humanoid robot locomotion using an Extended Kalman Filter (EKF) for fusing encoder, inertial and Foot Sensitive Resistor (FSR) measurements. The filteru0027s model is based on the non-linear Zero Moment Point (ZMP) dynamics and thus, coupling the dynamic behavior in the frontal and...More



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