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2004
Springer

Legged Odometry from Body Pose in a Hexapod Robot

10 years 1 months ago
Legged Odometry from Body Pose in a Hexapod Robot
We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GTMS). We also compare the performance to that of sensorless odometry schemes — both legged as well as on a wheeled version of the robot — using GTMS measurements of elapsed distance.
Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
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