Rhythmic EKF for pose estimation during gait

Vladimir Joukov, Vincent Bonnet, Michelle Karg, Gentiane Venture, Dana Kulić

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

10 Citations (Scopus)


Accurate estimation of lower body pose during gait is useful in a wide variety of applications, including design of bipedal walking strategies, active prosthetics, exoskeletons, and physical rehabilitation. In this paper an algorithm is developed to estimate joint kinematics during rhythmic motion such as walking, using inertial measurement units attached at the waist, knees, and ankles. The proposed approach combines the extended Kalman filter with a canonical dynamical system to estimate joint angles, positions, and velocities for 3 dimensional rhythmic lower body movement. The system incrementally learns the rhythmic motion over time, improving the estimate over a regular extended Kalman filter, and segmenting the motion into repetitions. The algorithm is validated in simulation and on real human walking data. It is shown to improve joint acceleration and velocity estimates over regular extended Kalman Filter by 40% and 37% respectively.

Original languageEnglish
Title of host publication2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015)
EditorsFrank Chongwoo Park
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781479968855, 9781479968848
ISBN (Print)9781479968862
Publication statusPublished - 28 Dec 2015
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2015 - Seoul, Korea, South
Duration: 3 Nov 20155 Nov 2015
Conference number: 15th

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580


ConferenceIEEE-RAS International Conference on Humanoid Robots 2015
Abbreviated titleHumanoids 2015
Country/TerritoryKorea, South


  • Acceleration
  • Accelerometers
  • Angular velocity
  • Kalman filters
  • Kinematics
  • Legged locomotion
  • Robot sensing systems

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