Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR
Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR
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融合运动学、惯性、视觉和激光雷达的步行机器人的准确而强大的定位
DOI：
10.1098/rsfs.2018.0015
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发表时间：
2018
期刊：
影响因子：
4.4
通讯作者：
M. Fallon
中科院分区：
文献类型：
--
作者：
M. Fallon
在本文中，我们回顾了双足和四足机器人的定位和态势感知方法。此类机器人被建模为受外力作用并受到全身分布式刚性接触约束的自由浮动机械系统。可以使用各种传感器信息来测量机器人的状态，例如运动学（机器人关节角度的感测）、接触力（机器人脚部的压力传感器）、加速度计和陀螺仪以及视觉和激光雷达等外部传感器。然后，这种高频状态估计被传递到机器人的控制系统，以允许其穿越地形或操纵其环境。在本文中，我们描述了波士顿动力 Atlas 人形机器人估算器的开发。它后来被改编为由意大利技术研究所开发的 HyQ2 四足动物。对未来趋势进行了一些讨论，同时还简要考虑了与生物系统的关系。
In this article, we review methods for localization and situational awareness of biped and quadruped robotics. This type of robot is modelled as a free-floating mechanical system subject to external forces and constrained by whole-body distributed rigid contacts. Measurements of the state of the robot can be made using a variety of sensor information—such as kinematics (the sensing of the joint angles of the robot), contact force (pressure sensors in the robot's feet), accelerometers and gyroscopes as well as external sensors such as vision and LIDAR. This high-frequency state estimate is then passed to the control system of the robot to allow it to traverse terrain or manipulate its environment. In this article, we describe the development of an estimator for the Boston Dynamics Atlas humanoid robot. It was later adapted to the HyQ2 quadruped, developed by the Istituto Italiano di Tecnologia. Some discussion is given as to future trends while also considering briefly the relationship with biological systems.