Počet záznamů: 1
Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots
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SYSNO ASEP 0475621 Druh ASEP J - Článek v odborném periodiku Zařazení RIV J - Článek v odborném periodiku Poddruh J Článek ve WOS Název Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots Tvůrce(i) Dolinský, Kamil (UTIA-B) RID, ORCID
Čelikovský, Sergej (UTIA-B) RID, ORCIDCelkový počet autorů 2 Zdroj.dok. IEEE Transactions on Control Systems Technology. - : Institute of Electrical and Electronics Engineers - ISSN 1063-6536
Roč. 26, č. 4 (2018), s. 1500-1507Poč.str. 8 s. Forma vydání Online - E Jazyk dok. eng - angličtina Země vyd. US - Spojené státy americké Klíč. slova Control ; identification ; maximum likelihood (ML) ; walking robots Vědní obor RIV BC - Teorie a systémy řízení Obor OECD Automation and control systems CEP GA17-04682S GA ČR - Grantová agentura ČR Institucionální podpora UTIA-B - RVO:67985556 UT WOS 000435195200031 EID SCOPUS 85021793459 DOI 10.1109/TCST.2017.2709277 Anotace This brief studies the problem of parameter estimation and model identification for a class of underactuated mechanical systems modeled via the Euler–Lagrange formalism, such as underactuated walking robots. This problem is closely related with the measurement of the absolute orientation during walking. A novel identification method suited for this problem
was proposed. The method takes advantage of the linear structure of the model with respect to estimated parameters. The resulting estimator is calculated iteratively and maximizes
the likelihood of the data. The method was tested on both simulated and experimental data. Simulation was carried out for an underactuated walking robot with a distance meter to
measure absolute orientation. Laboratory experiment was carried out on a leg of a laboratory walking robot model equipped with a three-axis accelerometer and gyroscope to measure absolute
orientation. The method performs favorably in comparison with other benchmark estimation algorithms and both the simulation example and the laboratory experiment confirmed its high
potential for the use in identification of underactuated robotic walkers.Pracoviště Ústav teorie informace a automatizace Kontakt Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Rok sběru 2019
Počet záznamů: 1