Robust estimation of walking robots velocity and tilt using proprioceptive sensors data fusion

@article{Wawrzynski2015RobustEO,
  title={Robust estimation of walking robots velocity and tilt using proprioceptive sensors data fusion},
  author={Pawel Wawrzynski and Jakub Mozaryn and Jan Klimaszewski},
  journal={Robotics and Autonomous Systems},
  year={2015},
  volume={66},
  pages={44-54}
}
Availability of the instantaneous velocity of a legged robot is usually required for its efficient control. However, estimation of velocity only on the basis of robot kinematics has a significant drawback: the robot is not in touch with the ground all the time, or its feet may twist. In this paper we introduce a method for velocity and tilt estimation in awalking robot. Thismethod combines a kinematicmodel of the supporting leg and readouts from an inertial sensor. It can be used in any terrain… CONTINUE READING
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