Estimation system for forces and torques in a biped motion

Authors:
Andrzej Polański;Adam Świtoński;Henryk Josiński;Karol Jędrasiak;Konrad Wojciechowski
Affiliations:
Polish Japanese Institute for Information Technology, Bytom, Poland and Institute of Informatics Silesian Technical University, Gliwice, Poland;Polish Japanese Institute for Information Technology, Bytom, Poland and Institute of Informatics Silesian Technical University, Gliwice, Poland;Polish Japanese Institute for Information Technology, Bytom, Poland and Institute of Informatics Silesian Technical University, Gliwice, Poland;Polish Japanese Institute for Information Technology, Bytom, Poland and Institute of Informatics Silesian Technical University, Gliwice, Poland;Polish Japanese Institute for Information Technology, Bytom, Poland and Institute of Informatics Silesian Technical University, Gliwice, Poland
Venue:
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part I
Year:
2010

Citing 3
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Abstract

In this paper we present a simple estimation system for ground reaction forces, inter-segmental forces and joint torques in the biped motion. The proposed system bases on classification of walk into two phases, left leg stance - right leg swing, and left leg swing - right leg stance. The system does not need any additional measurements of forces and moments. It uses matrix formulation for inverse dynamics problem of computing moment and torques on the basis of measurements of velocities and accelerations. The input signals are filtered with the use of the Savitzky Golay smoothing filter.