A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction