書誌事項
- タイトル別名
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- A study on identification of segment inertial parameters for motion analysis using Extended Kalman filter
抄録
<p>This paper proposes an estimation method of body segment parameters (mass, moment of inertia and center of gravity position). This method consists of the Extended Kalman filter. The nonlinear state equation is established by the compensation values of the body segment parameters, and the nonlinear measurement equation is established by the inverse dynamics using the Newton-Euler method. In this study, we conducted the simulation using the four-segment and three-joint model. The estimation results indicated the compensated joint torque (Joint reaction and moment). The effectiveness of this method was indicated by the analytical results.</p>
収録刊行物
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- Dynamics & Design Conference
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Dynamics & Design Conference 2023 (0), 423-, 2023
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390862268821297280
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- ISSN
- 24242993
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可