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Haldun Komsuoglu

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Legged Odometry from Body Pose in a Hexapod Robot

Proceedings of 9th International Symposium on Experimental Robotics, June 2004

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

Full PDF | Penn Scholarly Commons

Abstract
We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GTMS). We also compare the performance to that of sensorless odometry schemes both legged as well as on a wheeled version of the robot using GTMS measurements of elapsed distance.
BibTeX entry
@INPROCEEDINGS{Lin-Koditschek-Koditschek.ISER2004,
  author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.},
  title = {Legged Odometry from Body Pose in a Hexapod Robot},
  booktitle = {Proceedings of 9th International Symposium on Experimental Robotics},
  year = {2004},
  month = {June},
  note = {(award IFRR Student Fellowship for ISER2004)}
}
Related Sites
RHex - Robotic Hexapod platform and research page.
LegNet? - Short range wireless sensor network.

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