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Table of contents
1 Introduction
1.1 Scope
1.2 Summary of contributions
1.3 Thesis overview
1.4 The sense of motion in humans and animals
1.4.1 Vestibular system
1.4.2 Roles of vestibular system
1.4.3 Mathematical models of vestibular system
1.4.4 Head stabilization
1.5 Perception of self-motion in robots
1.5.1 Inertial sensors
1.5.2 Verticality estimation methods
1.5.3 Application in humanoid robots
1.5.4 Role of head stabilization
2 Model
2.1 Models of otoliths
2.1.1 Medial model
2.1.2 Lateral model
2.1.3 Head stabilization control
2.2 Model verification
3 Observability and ambiguity in otolith measurements
3.1 Nonlinear observability
3.1.1 Definitions
3.1.2 Nonlinear algebraic method for observability test
3.1.3 Observability test of the medial model
3.1.4 Observability test of the lateral model
3.2 Role of head up-right stabilization in resolving tilt-acceleration ambiguity
3.2.1 Ambiguity in otolith measurements
3.2.2 Head stabilization in up-right position
3.2.3 Non-stabilized head
3.3 Discussion
4 Verticality estimation
4.1 Observation problem
4.2 Extended Kalman filter
4.2.1 Filter design
4.2.2 Simulation results
4.3 Newton method based observer
4.3.1 Observer design
4.3.2 Simulation results
4.4 Head stabilization and the separation principle
4.4.1 Linearization and the separation principle
4.4.2 Linear observer and controller
4.4.3 Simulation results
4.5 Observation with consideration of ambiguity
4.5.1 Resolving ambiguity during up-right head stabilization
4.5.2 Simulation results
4.6 Summary of results
5 Experimental validation
5.1 Experimental setup
5.1.1 General description
5.1.2 Mechanical design
5.1.3 Inclinometer model
5.1.4 System integration and control
5.2 Experimental results
5.3 Discussion
6 Conclusion
