4 citations · 7 across the 2 of their papers we have counts for
4 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…