Sensor data fusion for body-pitch estimation in a quadruped robot
Journal
2016 International Conference on Advanced Robotics and Intelligent Systems
Pages
-
Date Issued
2017
Author(s)
Abstract
We report on the development of a body-pitch estimator that uses a hybrid Kalman filter to fuse sensory information from linear potentiometers for lengths, infrared rangers for body pitch and height, and a gyro for pitch rate. The estimator is implemented in a quadruped robot with only two active degrees of freedom and four linear compliant legs. The estimator consists of multiple models that are categorized by the leg contact conditions. The performance of the estimator is compared to the experimental results of the robot.
SDGs
Type
conference paper