Sensing and Estimation
Dynamically equilibrium axis (DEA) - the equilibrium position of humans changes with the acceleration of the surface of contact
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
P5. C. Woods and V. Vikas "Joint angle estimation using accelerometer arrays and model-based filtering", IEEE Sensors Journal, 2022 [Article Link].
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]
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]
