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Haldun Komsuoglu

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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

Full PDF | Web Link

Abstract
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 estimatorís 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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