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- W2199354643 abstract "We present a scheme where the measurements obtained through inertial measurement units (IMU), contact-force sensors and proprioception (joint encoders) are merged in order to observe humanoid unactuated floating-base dynamics. The sensor data fusion is implemented using an Extended Kalman Filter. The prediction part is constituted by viscoelastic contacts assumption and a model expressing at the origin the full body dynamics. The correction is achieved using embedded IMU and force sensor. Simulation and experimentation on HRP-2 robot show a state observation with improves inter-sensor consistency but also increased reconstruction accuracy." @default.
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- W2199354643 date "2015-11-01" @default.
- W2199354643 modified "2023-09-30" @default.
- W2199354643 title "Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation" @default.
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- W2199354643 doi "https://doi.org/10.1109/humanoids.2015.7363425" @default.
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