Abstract
The knowledge of the posture of a biped robot is a hard task, by a technological point-of-view. However, this information is crucial (in particular for walking dynamical bipeds in single support) for numerous advanced control laws which require all state variables. Observers design is then necessary.
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Lebastard, V., Aoustin, Y., Plestan, F., Fridman, L. (2008). An Alternative to the Measurement of Five-Links Biped Robot Absolute Orientation: Estimation Based on High Order Sliding Mode. In: Bartolini, G., Fridman, L., Pisano, A., Usai, E. (eds) Modern Sliding Mode Control Theory. Lecture Notes in Control and Information Sciences, vol 375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79016-7_17
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