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Haldun Komsuoglu

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A Leg Configuration Measurement System for Full Body Pose Estimates in a Hexapod Robot

IEEE Transactions on Robotics, 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 a continuous-time rigid-body pose estimator for a walking hexapod robot. Assuming at least three legs remain in ground contact at all times, our algorithm uses the outputs of six leg-configuration sensor models together with a priori knowledge of the ground and robot kinematics to compute instantaneous estimates of the 6-degrees-of-freedom (6-DOF) body pose. We implement this estimation procedure on the robot RHex by means of a novel sensory system incorporating a model relating compliant leg member strain to leg configuration delivered to the onboard CPU over a customized cheap high-performance local wireless network. We evaluate the performance of this algorithm at widely varying body speeds and over dramatically different ground conditions by means of a 6-DOF vision-based ground-truth measurement system (GTMS). We also compare the odometry performance to that of sensorless schemes—both legged as well as on a wheeled version of the robot—using GTMS measurements of elapsed distance.
BibTeX entry
@article{Lin-Komsuoglu-Koditschek.TRO2005,
  author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.},
  title = {A Leg Configuration Measurement System for Full Body Pose Estimates in a Hexapod Robot},
  journal = {IEEE Transactions on Robotics},
  year = {2005},
  volume = {21},
  pages = {411-422},
  number = {3}
}
Related Sites
RHex - Robotic Hexapod platform and research page.
LegNet? - Short range wireless sensor network.

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