Robust Velocity Estimation for Legged Robot Using on-Board Sensors Data Fusion

Paweł Wawrzyński , Jakub Możaryn , Jan Klimaszewski

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.
Author Paweł Wawrzyński (FEIT / AK)
Paweł Wawrzyński,,
- The Institute of Control and Computation Engineering
, Jakub Możaryn (FM / IACR)
Jakub Możaryn,,
- The Institute of Automatic Control and Robotics
, Jan Klimaszewski (FM / IACR)
Jan Klimaszewski,,
- The Institute of Automatic Control and Robotics
Pages717-722
Publication size in sheets0.5
Book Proceedings 18th International Conference on Methods and Models in Automation and Robotics, 2013, IEEE Catalog Number: CFP13MMA-CDR, ISBN 978-1-4673-5506-3
Keywords in Englishlegged locomotion, velocity estimation, Kalman filter
DOIDOI:10.1109/MMAR.2013.6670000
URL http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6670000
Languageen angielski
File
WawP robust 1305.pdf 1.96 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 08-01-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 08-01-2020, BookChapterMatConfByConferenceseries
Publication indicators WoS Citations = 5; GS Citations = 9.0
Citation count*9 (2020-09-23)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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