Optical Flow Aided Motion Estimation for Legged Locomotion

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Conference Proceeding
Proceedings Of the International Conference on Intelligent Robots and Systems, 2006, pp. 1738 - 1743
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Dynamic legged locomotion entails navigating terrain at high speed. The impact shocks from rapid footfalls, pivotal for such mobility, introduce large impulses that saturate motion measurement. A biomimetic approach is presented in which visual information, in the form of optical flow, complements information from inertial sensors. The motion is then determined using a two-phase Hybrid Extended Kalman Filter. Experimentation in determining attitudes on a robotic leg platform shows a reduction in drift over inertial approaches and in delay over visual approaches. In tests with 6g impulses, pose was recovered within 5 deg rms with angular rate errors limited to 10 deglsec at frequencies up to 250 Hz.
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