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.

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