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ICRA
2005
IEEE

Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits

10 years 3 months ago
Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits
— We report on progress toward a continuous time full 6 DOF translational body state estimator for a hexapod robot executing a jogging gait (with 4 consecutive phases: tripod stance, liftoff transient, aerial, and touchdown transient) on level ground. We use a sequence of dynamical models imported into a standard Kalman Filter to fuse measurements from a novel leg pose sensor and a conventional inertial measurement unit. We implement this estimation procedure on the hexapod robot RHex and evaluate its performance using a visual ground truth measurement system. We also compare the relative performance of different fusion approaches implemented via different model sequences.
Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditschek
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