Towards high-fidelity on-board attitude estimation for legged locomotion via a hybrid range and inertial approach

Singh, SPN; Waldron, KJ

Towards high-fidelity on-board attitude estimation for legged locomotion via a hybrid range and inertial approach

Singh, SPN Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: Springer Tracts in Advanced Robotics, 2006, 21 pp. 589 - 598
Issue Date:: 2006-12-18

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Field	Value	Language
dc.contributor.author	Singh, SPN	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2006-12-18	en_US
dc.identifier.citation	Springer Tracts in Advanced Robotics, 2006, 21 pp. 589 - 598	en_US
dc.identifier.isbn	3540288163	en_US
dc.identifier.isbn	9783540288169	en_US
dc.identifier.issn	1610-7438	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12017
dc.description.abstract	Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While widely applied in robotics, this approach is limited in dynamic legged locomotion due to the excessive accumulation of drift from severe impact shocks (nearly 9g in single leg experiments). This paper introduces the attitude estimation problem for legged locomotion and shows preliminary results from a more powerful combined range and inertial sensing approach. Based on a modified Extended Kalman Filter the method uses ground-directed range sensors, the stride period, and other periodic features of legged locomotion in order to address inertial drift. Together this provides rapid, robust estimates of flight phases and attitude necessary for extended dynamic legged operations. © Springer-Verlag Berlin/Heidelberg 2006.	en_US
dc.relation.ispartof	Springer Tracts in Advanced Robotics	en_US
dc.relation.isbasedon	10.1007/11552246_56	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Towards high-fidelity on-board attitude estimation for legged locomotion via a hybrid range and inertial approach	en_US
dc.type	Conference Proceeding
utslib.citation.volume	21	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Springer Berlin / Heidelberg	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	21	en_US

Abstract:

Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While widely applied in robotics, this approach is limited in dynamic legged locomotion due to the excessive accumulation of drift from severe impact shocks (nearly 9g in single leg experiments). This paper introduces the attitude estimation problem for legged locomotion and shows preliminary results from a more powerful combined range and inertial sensing approach. Based on a modified Extended Kalman Filter the method uses ground-directed range sensors, the stride period, and other periodic features of legged locomotion in order to address inertial drift. Together this provides rapid, robust estimates of flight phases and attitude necessary for extended dynamic legged operations. © Springer-Verlag Berlin/Heidelberg 2006.

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http://hdl.handle.net/10453/12017