Absolute orientation estimation based on high order sliding mode observer for a five link walking biped robot

Abstract

An observer to determine the absolute orientation of a 5-link biped robot is designed, in order to avoid the use of a sensor, which is one of the originalities of this paper. As a matter of fact, the measurement of such variable is quite delicate. The observer is based on the high order sliding mode approach, for its features of robustness and finite-time convergence property