Departmental Papers (ESE)


We report on a continuous time full body state estimator for a hexapod robot operating in the dynamical regime (entailing a significant aerial phase) on level ground that combines a conventional rate gyro with a novel leg strain based body pose estimator. We implement this estimation procedure on the robot RHex and evaluate its performance using a visual ground truth measurement system. As an independent assessment of our estimator's quality we also compare its odometry performance to sensorless averaged open loop distance-per-stride estimates.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

September 2004


Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Volume 3, pages 2265-2270.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently (August 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 04 August 2005