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Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2004
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 |
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| We report on a continuous time full body state estimator for a hexapod robot operating in the dynamical regime (entailing a significant aerial phase) on level ground that combines a conventional rate gyro with a novel leg strain based body pose estimator. We implement this estimation procedure on the robot RHex and evaluate its performance using a visual ground truth measurement system. As an independent assessment of our estimator’s quality we also compare its odometry performance to sensorless averaged open loop distance-per-stride estimates. |
| BibTeX entry |
|---|
@INPROCEEDINGS{Lin-Komsuoglu-Koditschek.IROS2004,
author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.},
title = {Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits},
booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2004},
month = {September}
} |
| Related Sites |
|---|
| RHex - Robotic Hexapod platform and research page. |
| LegNet? - Short range wireless sensor network. |
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