DocumentCode :
775529
Title :
Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits
Author :
Lin, Pei-Chun ; Komsuoglu, Haldun ; Koditschek, Daniel E.
Author_Institution :
Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA
Volume :
22
Issue :
5
fYear :
2006
Firstpage :
932
Lastpage :
943
Abstract :
We report on a hybrid 12-dimensional full body state estimator for a hexapod robot executing a jogging gait in steady state on level terrain with regularly alternating ground contact and aerial phases of motion. We use a repeating sequence of continuous time dynamical models that are switched in and out of an extended Kalman filter to fuse measurements from a novel leg pose sensor and inertial sensors. Our inertial measurement unit supplements the traditionally paired three-axis rate gyro and three-axis accelerometer with a set of three additional three-axis accelerometer suites, thereby providing additional angular acceleration measurement, avoiding the need for localization of the accelerometer at the center of mass on the robot´s body, and simplifying installation and calibration. We implement this estimation procedure offline, using data extracted from numerous repeated runs of the hexapod robot RHex (bearing the appropriate sensor suite) and evaluate its performance with reference to a visual ground-truth measurement system, comparing as well the relative performance of different fusion approaches implemented via different model sequences
Keywords :
Kalman filters; continuous time systems; legged locomotion; robot dynamics; sensor fusion; state estimation; telerobotics; body state estimation; dynamical gaits; extended Kalman filter; hexapod robot; jogging gait; legged robot; sensor data fusion; visual ground-truth measurement system; Accelerometers; Fuses; Leg; Motion estimation; Phase estimation; Robot sensing systems; Sensor fusion; State estimation; Steady-state; Time measurement; Extended Kalman filter (EKF); hybrid estimation model; inertial measurement unit (IMU); leg pose sensor (LPS); legged robot; sensor fusion;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2006.878954
Filename :
1705584
Link To Document :
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