Departmental Papers (ESE)

Document Type

Conference Paper

Date of this Version

April 2007

Comments

Copyright 2007 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, ICRA '07, April 2007, pages 4582-4587.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

Abstract

We present a novel method for the localization of a legged robot on known terrain using only proprioceptive sensors such as joint encoders and an inertial measurement unit. In contrast to other proprioceptive pose estimation techniques, this method allows for global localization (i.e., localization with large initial uncertainty) without the use of exteroceptive sensors. This is made possible by establishing a measurement model based on the feasibility of putative poses on known terrain given observed joint angles and attitude measurements. Results are shown that demonstrate that the method performs better than dead-reckoning, and is also able to perform global localization from large initial uncertainty.

Share

COinS
 

Date Posted: 22 January 2008

This document has been peer reviewed.