A Bio-Inspired Framework for Joint Angle Estimation from Non-Collocated Sensors in Tendon-driven Systems
Daniel A. Hagen,Ali Marjaninejad,Francisco J. Valero-Cuevas,Daniel A. Hagen,Ali Marjaninejad,Francisco J. Valero-Cuevas
Estimates of limb posture are critical for the control of robotic systems. This is generally accomplished by utilizing on-location joint angle encoders which may complicate the design, increase limb inertia, and add noise to the system. Conversely, some innovative or smaller robotic morphologies can benefit from non-collocated sensors when encoder size becomes prohibitively larger or the joints ar...
