Low-cost accelerometers for robotic manipulator perception

@article{Quigley2010LowcostAF,
  title={Low-cost accelerometers for robotic manipulator perception},
  author={Morgan Quigley and Reuben D. Brewer and Sai Prashanth Soundararaj and Vijay Pradeep and Quoc V. Le and Andrew Y. Ng},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={6168-6174}
}
We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control… CONTINUE READING