| Title |
Velocity Estimation of a Compass Gait Biped Robot by Using Impact Condition and Initial Condition Reset |
| Keywords |
Compass Gait Biped ; Passive Dynamic Walking ; Velocity Estimation ; Impact Condition |
| Abstract |
In this paper, a simple method of angle velocity estimation is presented for a passive dynamic biped robot. The estimation problem is not an easy task because its dynamic model is a hybrid system involved with an impact condition. Instead of designing a complex observer for hybrid systems we simply utilize the impact condition to reset the initial condition of the high-pass filter when the non-support leg hits the slope. The approach has been verified by simulation results. |