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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.14 no.9, 2008년, pp.886 - 892
권상주 (한국항공대학교 항공우주기계공학부) , 오용환 (한국과학기술연구원 인지로봇연구센터)
In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at a...
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