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A leg configuration measurement system for full-body pose estimates in a hexapod robot
- Source :
- IEEE Transactions on Robotics. June, 2005, Vol. 21 Issue 3, p411, 12 p.
- Publication Year :
- 2005
-
Abstract
- We report on a continuous-time rigid-body pose estimator for a walking hexapod robot. Assuming at least three legs remain in ground contact at all times, our algorithm uses the outputs of six leg-configuration sensor models together with a priori knowledge of the ground and robot kinematics to compute instantaneous estimates of the 6-degrees-of-freedom (6-DOF) body pose. We implement this estimation procedure on the robot RHex by means of a novel sensory system incorporating a model relating compliant leg member strain to leg configuration delivered to the onboard CPU over a customized cheap high-performance local wireless network. We evaluate the performance of this algorithm at widely varying body speeds and over dramatically different ground conditions by means of a 6-DOF vision-based ground-truth measurement system (GTMS). We also compare the odometry performance to that of sensorless schemes--both legged as well as on a wheeled version of the robot--using GTMS measurements of elapsed distance. Index Terms--Body pose estimation, hexapod robot, leg configuration sensor, legged locomotion sensing, legged odometry, robot proprioception, strain-based sensor.
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 21
- Issue :
- 3
- Database :
- Gale General OneFile
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- edsgcl.133528401