Departmental Papers (ESE)


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

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



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.



Date Posted: 11 November 2013

This document has been peer reviewed.