Journal of Robotics / 2010 / Article / Fig 5

Research Article

Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation

Figure 5

(a) RMSE for different Fourier series harmonics n, where the estimator is tuned for slow, fast, and the combined slow + fast walking speeds. No significant improvement is made for n>8. For n=8, the speed invariant estimator has RMSE 1.5° compared to 1.2° for the estimators specially tuned for slow or fast walking. (b) Measured strain signal s (black) and its Fourier series approximation ŝ (red), using n=8 harmonics.
465618.fig.005a
(a)
465618.fig.005b
(b)

Article of the Year Award: Outstanding research contributions of 2020, as selected by our Chief Editors. Read the winning articles.