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Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators.
- Source :
- IEEE Transactions on Robotics; Jun2013, Vol. 29 Issue 3, p783-791, 9p
- Publication Year :
- 2013
-
Abstract
- Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state regime, by using adaptive oscillators. Our method combines the advantages of introducing no delay, and filtering out the high-frequency noise. We expect this method to be useful in control applications requiring undelayed but smooth estimates of velocity and acceleration (e.g., velocity control and inverse dynamics) of quasi-periodic tasks (e.g., active vibration compensation, robot locomotion, and lower-limb movement assistance). [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 29
- Issue :
- 3
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 87999600
- Full Text :
- https://doi.org/10.1109/TRO.2013.2240173