Research on Foot Slippage Estimation of Insect Type Hexapod Robot

The accurate of the velocity and posture data of hexapod robot can not be obtained by body sensors only due to the influence of the sensor error itself and the installation error, as well as the foot slippage or mechanical error during the foot-terrain interaction. In this paper, the data fusion method based on Extended Kalman Filter is adopted, and the data of accurate velocity and posture of trunk body are from the kinematics and IMU information. It is difficult to detect the occurrence of slippage through the body sensors. The foot-terrain slippage model for insect type hexapod robot based on leg dynamics model with foot slip is proposed. And the foot-terrain slippage estimation method based on state estimation is presented. The method can detect the slippage rate of the foot and the state of the slippage can be determined. The estimated value is compared with state data obtained by the external motion capture system (Mocap system), and the experimental results have demonstrated the effectiveness of the proposed method and realize the foot slippage estimation of insect type hexapod robot.