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Haldun Komsuoglu

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A Leg Configuration Sensory System for Dynamical Body State Estimates in a Hexapod Robot

Proceedings of International Conference on Robotics and Automation, September 2003

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Department of Electrical Engineering and Computer Science, University of Michigan

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Abstract
We report on a novel leg strain sensory system for the autonomous robot RHex [8] implemented upon a cheap, high performance local wireless network [1]. We introduce a model for RHex’s 4-bar legs [4] relating leg strain to leg kinematic configuration in the body coordinate frame. We compare against ground truth measurement the performance of the model operating on real-time leg strain data generated under completely realistic operating conditions. We introduce an algorithm for computing six degree of freedom body posture measurements in world frame coordinates from the outputs of the six leg configuration models, together with a priori information about the ground. We discuss the manner in which such stance phase configuration estimates will be fused with other sensory data to develop the continuous time full body state estimates for RHex.
BibTeX entry
@inproceedings{Lin-Komsuoglu-Koditschek.ICRA2003,
  author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.},
  title = {A Leg Configuration Sensory System for Dynamical Body State Estimates in a Hexapod Robot},
  booktitle = {Proceedings of International Conference on Robotics and Automation},
  year = {2003},
  pages = {1391-1396},
  address = {Taipei, Taiwan},
  month = {September}
}

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