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Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots

Abstract:

In this paper we present a system for the state estimation of a dynamically walking and trotting quadruped. The approach fuses four heterogeneous sensor sources (inertial, kinematic, stereo vision and LIDAR) to maintain an accurate and consistent estimate of the robot’s base link velocity and position in the presence of disturbances such as slips and missteps. We demonstrate the performance of our system, which is robust to changes in the structure and lighting of the environment, as well as ...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.15607/RSS.2017.XIII.007

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Publisher:
Robotics: Science and Systems Foundation Publisher's website
Journal:
Proceedings of Robotics: Science and Systems Journal website
Host title:
Proceedings of Robotics: Science and Systems
Publication date:
2017-07-12
Acceptance date:
2017-04-11
DOI:
Source identifiers:
811807
ISBN:
9780992374730
Pubs id:
pubs:811807
UUID:
uuid:30a01852-30d8-45da-9895-203e47b256d3
Local pid:
pubs:811807
Deposit date:
2017-12-19

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