DocumentCode
646582
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
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
717
Lastpage
722
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMAR.2013.6670000
Filename
6670000
Link To Document