Real-time estimate of velocity and acceleration of quasi-periodic signals using adaptive oscillators
(2013) IEEE Transactions on Robotics — Vol. 29, n° 3, p. 783-791 (2013)
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- Authors
- Abstract
- Estimating the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state regime, by using adaptive oscillators. Our method combines the advantages of introducing no delay, and filtering out the high-frequency noise. We expect this method to be useful in control applications requiring undelayed but smooth estimates of velocity and acceleration (e.g. velocity control, inverse dynamics) of quasiperiodic tasks (e.g. active vibration compensation, robot locomotion, lower-limb movement assistance).
- Affiliations
Citations
Ronsse, R., De Rossi, S. M. M., Vitiello, N., Lenzi, T., Carrozza, M. C., & Ijspeert, A. J. (2013). Real-time estimate of velocity and acceleration of quasi-periodic signals using adaptive oscillators. IEEE Transactions on Robotics, 29(3), 783-791. https://doi.org/10.1109/TRO.2013.2240173 (Original work published 2013)