Legged Odometry from Body Pose in a Hexapod Robot
Loading...
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Kodlab
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GTMS). We also compare the performance to that of sensorless odometry schemes — both legged as well as on a wheeled version of the robot — using GTMS measurements of elapsed distance. For more information: Kod*Lab
Advisor
Date of presentation
2004-01-01
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T08:09:53.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
BibTeX entry @INPROCEEDINGS{Lin-Koditschek-Koditschek.ISER2004, author = {Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.}, title = {Legged Odometry from Body Pose in a Hexapod Robot}, booktitle = {Proceedings of 9th International Symposium on Experimental Robotics}, year = {2004}, month = {June}, note = {(award IFRR Student Fellowship for ISER2004)} } This work is supported by DARPA/SPAWAR Contract N66001-00-C-8026 and N66001-03-C-8045.