Lyapunov-Stable Orientation Estimator for Humanoid Robots
Lyapunov-Stable Orientation Estimator for Humanoid Robots
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the system. This velocity can be obtained by taking into account the kinematic data provided …