3-Dimensional pose sensor algorithm for humanoid robot

In this paper, a 3D pose attitude estimation system using inertial sensors was developed to provide feedback motion and attitude information for a humanoid robot. It has a very effective switching structure and composed of three modules, a motion acceleration detector, a pseudo-accelerometer output estimator, and a linear acceleration estimator. The switching structure based on probability enables a tactful feedback loop for the extended Kalman filter inside the sensor system. Specially designed linear-rotation test equipment was built, and the experimental results showed its fast convergence to actual values in addition to its excellent responses. The output of the proposed 3D sensor can be transmitted to a humanoid at a frequency of 200 Hz.