{"id":490,"date":"2013-08-20T15:44:58","date_gmt":"2013-08-20T13:44:58","guid":{"rendered":"http:\/\/janela2.lirmm.fr\/~fraisse\/?p=490"},"modified":"2014-05-03T15:47:11","modified_gmt":"2014-05-03T13:47:11","slug":"icra-2013","status":"publish","type":"post","link":"https:\/\/www.lirmm.fr\/~fraisse\/archives\/490","title":{"rendered":"ICRA 2013"},"content":{"rendered":"<p style=\"text-align: justify;\"><strong><span style=\"color: #333333; font-family: Arial; font-size: 20px; line-height: 18px;\">Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter <\/span><\/strong>(ICRA&#8217;13)<\/p>\n<p><span style=\"font-family: Arial; font-size: 16px; text-align: justify;\"> A human\u2019s center of mass (CoM) trajectory is\u00a0useful to evaluate the dynamic stability during daily life activities\u00a0such as walking and standing up. To estimate the\u00a0subject specific\u00a0CoM position in the home environment, we make use\u00a0of a statically equivalent serial chain (SESC) developed with\u00a0a portable measurement system. In this paper we implement\u00a0a constrained Kalman filter to achieve an online parameter\u00a0estimation of the SESC parameters while accounting for the\u00a0human body bilateral symmetry. This results in constraining\u00a0SESC parameters to be consistent with the human skeletal\u00a0model used. Kinect is used as a markerless motion capture\u00a0system for measuring limb orientations while the Wii board\u00a0is used to measure the subject\u2019s center of pressure (CoP)\u00a0during the identification phase. CoP measurements and Kinect\u00a0data were recorded for five able-bodied subjects. The recorded\u00a0data was then given to the proposed recursive algorithm to\u00a0identify the parameters of the SESC online. <\/p>\n<ul class=\"papercite_bibliography\">\n<li>                      A. Gonzalez, M. Hayashibe, and P. Fraisse. Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter. In <em>IEEE International Conference on Robotics and Automation (ICRA)<\/em>, oct 2013. <br \/>    <a href=\"javascript:void(0)\" id=\"papercite_0\" class=\"papercite_toggle\">[Bibtex]<\/a>\n<div class=\"papercite_bibtex\" id=\"papercite_0_block\">\n<pre><code class=\"tex bibtex\">@INPROCEEDINGS{GHF2013,\nauthor={Gonzalez, A. and Hayashibe, M. and Fraisse, P.},\nbooktitle={IEEE International Conference on Robotics and Automation (ICRA)},\ntitle={Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter},\nyear={2013},\nmonth={oct},\nvolume={},\nnumber={},\npages={},\nkeywords={iros, Human modeling},\ndoi={},\nISSN={}}<\/code><\/pre>\n<\/div>\n<\/li>\n<\/ul>\n<p>. <iframe loading=\"lazy\" src=\"http:\/\/www.youtube.com\/embed\/sJ4InpyQiNo?feature=player_detailpage\" width=\"600\" height=\"400\" frameborder=\"0\"><\/iframe><\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Online Identification and Visualization of the Statically Equivalent Serial Chain via constrained Kalman filter (ICRA&#8217;13) A human\u2019s center of mass (CoM) trajectory is\u00a0useful to evaluate the dynamic stability during daily life activities\u00a0such as walking and standing up. To estimate the\u00a0subject &hellip; <a href=\"https:\/\/www.lirmm.fr\/~fraisse\/archives\/490\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"aside","meta":[],"categories":[10],"tags":[],"_links":{"self":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/490"}],"collection":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/comments?post=490"}],"version-history":[{"count":34,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/490\/revisions"}],"predecessor-version":[{"id":731,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/posts\/490\/revisions\/731"}],"wp:attachment":[{"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/media?parent=490"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/categories?post=490"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.lirmm.fr\/~fraisse\/wp-json\/wp\/v2\/tags?post=490"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}