Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Estimation of 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 and inverse dynamics) of quasi-periodic tasks (e. g., active vibration compensation, robot locomotion, and lower-limb movement assistance).


Published in:
IEEE Transactions on Robotics, 29, 3, 783-791
Year:
2013
Publisher:
Piscataway, Ieee-Inst Electrical Electronics Engineers Inc
ISSN:
1941-0468
Keywords:
Laboratories:




 Record created 2013-06-14, last modified 2018-03-17


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