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Haldun Komsuoglu

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

Proceedings of IEEE International Conference on Robotics and Automation, April 2005

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 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.
BibTeX entry
@inproceedings{Lin-Komsuoglu-Koditschek.ICRA2005,
  author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.},
  title = {Sensor Data Fusion for Body State Estimation for a Hexapod Robot with Dynamical Gaits},
  booktitle = {Proceedings of IEEE International Conference on Robotics and Automation},
  year = {2005},
  pages = {4744-4749},
  month = {April}
}
Related Sites
RHex - Robotic Hexapod platform and research page.
LegNet? - Short range wireless sensor network.

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