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Haldun Komsuoglu

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Legged Odometry from Body Pose in a Hexapod Robot

Springer Tracts in Advanced Robotics vol. 21: Experimental Robotics IX (ISBN: 978–3−540–28816–9), 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
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
@inbook{Lin-Komsuoglu-Koditschek.STAR2004,
  chapter = {Legged Odometry from Body Pose in a Hexapod Robot},
  pages = {439-448},
  title = {Springer Tracts in Advanced Robotics vol. 21: Experimental Robotics IX (ISBN: 978-3-540-28816-9)},
  publisher = {Springer},
  year = {2004}
}

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