12 citations · 23 across the 6 of their papers we have counts for
6 papers
Lyapunov-Stable Orientation Estimator for Humanoid Robots
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…
Velocity-aided IMU-based Attitude Estimation
Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros +1
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors pr…
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer
Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There…
Attitude Estimation and Control Using Linear-Like Complementary Filters: Theory and Experiment
L. Benziane, A. El Hadri, A. Seba +2
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order dire…
Inertial Vector Based Attitude Stabilization of Rigid Body Without Angular Velocity Measurements
L. Benziane, A. Benallegue, Y. Chitour +1
We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback,…
Inertial Measurements Based Velocity-free Attitude Stabilization
A. Tayebi, A. Roberts, A. Benallegue
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, th…