Sensor Filtering And Position Tracking Of A Simulated Planar Bipedal Robot

The development of a humanoid robot is a very prevalent area of research today. Legged robots have many advantages over wheeled robots on rough or uneven terrains, and are more suitable for an everyday household setting, however they possess many design and control challenges. The spring loaded inverted pendulum (SLIP) is frequently used as a fundamental model to analyze bipedal locomotion. In general, it consists of a stance phase and a flight …