Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field

Angular-velocity estimation from point-acceleration measurements is now common practice in biomechanics, and is starting to gain some interest within the robotics community. In this paper we propose two methods for the estimation of the rigid-body angular velocity from the centripetal component of its acceleration field. These methods rely on the adjoint matrix of the symmetric component of the associated angular acceleration matrix. Simulation shows that the methods proposed here can he more robust than their current counterparts.