Title :
Robust velocity estimation for legged robot using on-board sensors data fusion
Author :
Wawrzynaski, Pawel ; Mozaryn, Jakub ; Klimaszewski, Jan
Author_Institution :
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Warsaw, Poland
Abstract :
Availability of momentary velocity of a legged robot is essential for its efficient control. However, estimation of the velocity is difficult, because the robot does not need to touch the ground all the time or its feet may twist. In this paper we introduce a method for velocity estimation in a legged robot that combines kinematic model of the supporting leg, readouts from an inertial sensor, and Kalman filter. The method alleviates all the above mentioned difficulties.
Keywords :
Kalman filters; legged locomotion; robot kinematics; sensor fusion; velocity measurement; Kalman filter; inertial sensor readouts; legged robot; momentary velocity; on-board sensors data fusion; robust velocity estimation; supporting leg kinematic model; Estimation; Foot; Joints; Legged locomotion; Robot sensing systems; Kalman filter; legged locomotion; velocity estimation;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6670000
