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Journal article

Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR

Abstract:

In this article, we review methods for localization and situational awareness of biped and quadruped robotics. This type of robot is modelled as a free-floating mechanical system subject to external forces and constrained by whole-body distributed rigid contacts. Measurements of the state of the robot can be made using a variety of sensor information—such as kinematics (the sensing of the joint angles of the robot), contact force (pressure sensors in the robot's feet), accelerometers and gyro...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1098/rsfs.2018.0015

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0003-2940-0879
Publisher:
Royal Society Publishing
Journal:
Interface Focus More from this journal
Volume:
8
Issue:
4
Publication date:
2018-06-15
Acceptance date:
2018-05-09
DOI:
EISSN:
2042-8901
ISSN:
2042-8898
Keywords:
Pubs id:
pubs:923168
UUID:
uuid:f82f3973-821d-4df4-bc82-f9e21a31e295
Local pid:
pubs:923168
Source identifiers:
923168
Deposit date:
2018-10-02

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