Gravito-Inertial Ambiguity Resolved through Head Stabilisation
- Submitting institution
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Queen Mary University of London
- Unit of assessment
- 12 - Engineering
- Output identifier
- 648
- Type
- D - Journal article
- DOI
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10.1098/rspa.2018.0010
- Title of journal
- Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
- Article number
- ARTN 20180010
- First page
- 20180010
- Volume
- 475
- Issue
- 2223
- ISSN
- 1364-5021
- Open access status
- Compliant
- Month of publication
- March
- Year of publication
- 2019
- URL
-
-
- Supplementary information
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- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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3
- Research group(s)
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-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This article presents the first approach to explain head stabilisation behaviour in humans using nonlinear models and observability analysis. It is demonstrated that the head stabilisation enables to estimate the gravitational vertical and head acceleration during dynamic motion. The paper led to the development of a novel controller for robots which was presented at RSS2019 (top robotics conference) as a separate publication and was the best paper award finalists (https://www.roboticsfoundation.org/awards/best-paper/ top 6 out of 340 submissions, Farkhatdinov). Farkhatdinov was an invited keynote at the workshop “Biomechanics of Anthropomorphic Systems” along with world-leaders in robotics and biomechanics (https://biomeca-robot.sciencesconf.org/resource/page/id/9, 100 audience).
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -