Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits
Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits
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DOI：
10.1109/tro.2006.878954
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发表时间：
2006-10-01
影响因子：
7.8
通讯作者：
Koditschek, Daniel E.
中科院分区：
文献类型：
--
作者：
Lin, Pei-Chun;Komsuoglu, Haldun;Koditschek, Daniel E.
我们报告了一种混合 12 维全身状态估计器，用于六足机器人在水平地形上以稳定状态执行慢跑步态，并定期交替地面接触和空中运动阶段。我们使用连续时间动态模型的重复序列，这些模型在扩展卡尔曼滤波器中切换，以融合来自新型腿部姿势传感器和惯性传感器的测量结果。我们的惯性测量单元通过一组三个额外的三轴加速度计套件对传统配对的三轴速率陀螺仪和三轴加速度计进行了补充，从而提供额外的角加速度测量，无需将加速度计定位在机器人身体的质心处，并简化了安装和校准。我们使用从六足机器人 RHex（带有适当的传感器套件）的多次重复运行中提取的数据来离线实施此估计程序，并参考视觉地面实况测量系统评估其性能，同时比较通过不同模型序列实现的不同融合方法的相对性能。
We report on a hybrid 12-dimensional full body state estimator for a hexapod robot executing a jogging gait in steady state on level terrain with regularly alternating ground contact and aerial phases of motion. We use a repeating sequence of continuous time dynamical models that are switched in and out of an extended Kalman filter to fuse measurements from a novel leg pose sensor and inertial sensors. Our inertial measurement unit supplements the traditionally paired three-axis rate gyro and three-axis accelerometer with a set of three additional three-axis accelerometer suites, thereby providing additional angular acceleration measurement, avoiding the need for localization of the accelerometer at the center of mass on the robot's body, and simplifying installation and calibration. We implement this estimation procedure offline, using data extracted from numerous repeated runs of the hexapod robot RHex (bearing the appropriate sensor suite) and evaluate its performance with reference to a visual ground-truth measurement system, comparing as well the relative performance of different fusion approaches implemented via different model-sequences.