Sciweavers

Share
5 search results - page 1 / 1
» Attitude Estimation for Dynamic Legged Locomotion Using Rang...
Sort
View
ICRA
2005
IEEE
139views Robotics» more  ICRA 2005»
10 years 3 months ago
Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors
— Legged robots offer exceptional mobility in uncharted terrains. Their dynamic nature yields unrivaled mobility, but serves to destabilize the motion estimation process that und...
Surya P. N. Singh, Kenneth J. Waldron
ISER
2004
Springer
128views Robotics» more  ISER 2004»
10 years 3 months ago
Towards High-Fidelity On-Board Attitude Estimation for Legged Locomotion via a Hybrid Range and Inertial Approach
Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While...
Surya P. N. Singh, Kenneth J. Waldron
ICRA
2007
IEEE
208views Robotics» more  ICRA 2007»
10 years 4 months ago
A Hybrid Motion Model for Aiding State Estimation in Dynamic Quadrupedal Locomotion
— Trotting and galloping allow a quadruped to rapidly traverse rough terrain. Modeling this motion, which is only dynamically stable, is of importance for legged robot operation ...
Surya P. N. Singh, Kenneth J. Waldron
ICRA
2005
IEEE
141views Robotics» more  ICRA 2005»
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 sta...
Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch...
ICRA
1999
IEEE
114views Robotics» more  ICRA 1999»
10 years 2 months ago
Smoother Based 3-D Attitude Estimation for Mobile Robot Localization
The mobile robot localization problem is decomposed into two stages attitude estimation followed by position estimation. The innovation of our method is the use of a smoother, in ...
Stergios I. Roumeliotis, Gaurav S. Sukhatme, Georg...
books