| bibtype |
J -
Journal Article
|
| ARLID |
0475621 |
| utime |
20240111140941.6 |
| mtime |
20170623235959.9 |
| SCOPUS |
85021793459 |
| WOS |
000435195200031 |
| DOI |
10.1109/TCST.2017.2709277 |
| title
(primary) (eng) |
Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots |
| specification |
| page_count |
8 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0253228 |
| ISSN |
1063-6536 |
| title
|
IEEE Transactions on Control Systems Technology |
| volume_id |
26 |
| volume |
4 (2018) |
| page_num |
1500-1507 |
| publisher |
| name |
Institute of Electrical and Electronics Engineers |
|
|
| keyword |
Control |
| keyword |
identification |
| keyword |
maximum likelihood (ML) |
| keyword |
walking robots |
| author
(primary) |
| ARLID |
cav_un_auth*0279330 |
| name1 |
Dolinský |
| name2 |
Kamil |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0347203 |
| project_id |
GA17-04682S |
| agency |
GA ČR |
| country |
CZ |
|
| abstract
(eng) |
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\nwas 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\nthe 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\nmeasure 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\norientation. The method performs favorably in comparison with other benchmark estimation algorithms and both the simulation example and the laboratory experiment confirmed its high\npotential for the use in identification of underactuated robotic walkers. |
| result_subspec |
WOS |
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2019 |
| num_of_auth |
2 |
| mrcbC52 |
4 A hod 4ah 20231122142509.2 |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0272293 |
| mrcbC64 |
1 Department of Control Theory UTIA-B 20205 AUTOMATION & CONTROL SYSTEMS |
| confidential |
S |
| mrcbC86 |
2 Article Automation Control Systems|Engineering Electrical Electronic |
| mrcbT16-e |
AUTOMATIONCONTROLSYSTEMS|ENGINEERINGELECTRICALELECTRONIC |
| mrcbT16-j |
1.538 |
| mrcbT16-s |
1.811 |
| mrcbT16-B |
84.752 |
| mrcbT16-D |
Q1 |
| mrcbT16-E |
Q1 |
| arlyear |
2018 |
| mrcbTft |
\nSoubory v repozitáři: dolinsky-0475621.pdf |
| mrcbU14 |
85021793459 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000435195200031 WOS |
| mrcbU56 |
článek v odborném periodiku 1,13 MB |
| mrcbU63 |
cav_un_epca*0253228 IEEE Transactions on Control Systems Technology 1063-6536 1558-0865 Roč. 26 č. 4 2018 1500 1507 Institute of Electrical and Electronics Engineers |
|