Departmental Papers (ESE)

Abstract

We report on a novel leg strain sensory system for the autonomous robot RHex [Saranli U. et al., 2001] implemented upon a cheap, high performance local wireless network [H. Komsuoglu, 2002]. We introduce a model for RHex's 4-bar legs [E.Z. Moore, 2001] relating leg strain to leg kinematic configuration in the body coordinate frame. We compare against ground truth measurement the performance of the model operating on real-time leg strain data generated under completely realistic operating conditions. We introduce an algorithm for computing six degree of freedom body posture measurements in world frame coordinates from the outputs of the six leg configuration models, together with a priori information about the ground. We discuss the manner in which such stance phase configuration estimates will be fused with other sensory data to develop the continuous time full body state estimates for RHex.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

September 2003

Comments

Copyright 2003 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 2003 (ICRA 2003)pages 1391-1396.

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

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Date Posted: 30 May 2008

This document has been peer reviewed.