Robust Velocity Estimation for Legged Robot Using on-Board Sensors Data Fusion
Paweł Wawrzyński , Jakub Możaryn , Jan Klimaszewski
AbstractAvailability 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.
|Publication size in sheets||0.5|
|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 English||legged locomotion, velocity estimation, Kalman ﬁlter|
|Score|| = 10.0, 08-01-2020, BookChapterMatConfByConferenceseries|
= 15.0, 08-01-2020, BookChapterMatConfByConferenceseries
|Publication indicators||= 5; = 9.0|
|Citation count*||9 (2020-09-23)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.