By Topic

A leg configuration measurement system for full-body pose estimates in a hexapod robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Pei-Chun Lin ; Dept. of Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA ; Komsuoglu, H. ; Koditschek, D.E.

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.

Published in:

Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 3 )