Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area


Date of this Version

April 2007


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

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Date Posted: 22 January 2008

This document has been peer reviewed.