Sensing and Estimation
Mechanically, the human body displays a remarkable quality of maintaining equilibrium for a body that is in a state of unstable equilibrium (biped stance). I take inspiration from the human vestibular system to answer "what is the equilibrium position?" and build orientation sensors using multiple inertial sensors.
Publications
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P6. H. Bezawada, C. Woods and V. Vikas, "Shape reconstruction of soft manipulators using vision and IMU feedback'", IEEE Robotics and Automation Letters (RA-L), 2022. [Article Link, YouTube Video].
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P5. C. Woods and V. Vikas "Joint angle estimation using accelerometer arrays and model-based filtering", IEEE Sensors Journal, 2022 [Article Link].
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P4. C. Woods and V. Vikas "Balancing inverted pendulum carts on inclines using accelerometers", ASME Letters in Dynamics Systems and Controls, 2021.[Link, Youtube Video]
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P3. M. Maynard and V. Vikas "Angular velocity estimation using non-coplanar accelerometer array", IEEE Sensors Journal, 2021. [arxiv, Publication Link]
P2. V. Vikas and C.D. Crane III, "Joint angle measurement using strategically placed accelerometers and gyroscopes", ASME Journal of Mechanisms and Robotics, 2015. [Publication Link]
P1. V. Vikas and C.D. Crane III, "Bioinspired dynamic inclination measurement using inertial sensors", Bioinspiration and Biomimetics, 2015. [Publication Link]