English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The paper presents a new observer for tilt estimation of a 3-D non-rigidpendulum. The system can be seen as a multibody robot attached to theenvironment with a ball joint. There is no sensor for the joint position of thesensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory forbalance control for a humanoid robot and all tasks requiring verticality. Ourmethod obtains tilt estimations using encoders on other joints and inertialmeasurements given by an IMU equipped with tri-axial accelerometer andgyrometer mounted in any body of the robot. The estimator takes profit from thekinematic coupling resulting from the pivot constraint and uses the entiresignal of accelerometer including linear accelerations. Almost GlobalAsymptotic convergence of the estimation errors is proven together with localexponential stability. The performance of the proposed observer is illustratedby simulations.

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