On State Estimation for Legged Locomotion Over Soft Terrain
نویسندگان
چکیده
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation robots is designed rigid contacts and does not take into account physical parameters terrain. That said, this letter answers following questions: How why affect robots? To do so, we utilized estimator that fuses IMU measurements with leg odometry contact assumptions. We experimentally validated HyQ robot trotting both demonstrate negatively affects estimates have noticeable drift compared to
منابع مشابه
On-Board Perception and Motion Planning for Legged Locomotion over Rough Terrain
This paper addresses the issues of perception and motion planning in a legged robot walking over a rough terrain. The solution takes limited perceptual capabilities of the robot into account. A passive stereo camera and a 2D laser scanner are considered for sensing the terrain, with environment representations matching the uncertainty characteristics of these sensors. The motion planner adheres...
متن کاملGeneral model of legged locomotion on natural terrain
Any books that you read, no matter how you got the sentences that have been read from the books, surely they will give you goodness. But, we will show you one of recommendation of the book that you need to read. This general model of legged locomotion on natural terrain is what we surely mean. We will show you the reasonable reasons why you need to read this book. This book is a kind of preciou...
متن کاملOptimization and learning for rough terrain legged locomotion
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the outp...
متن کاملRobust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies
In this study, we present a framework for phasespace planning and control of agile bipedal locomotion while robustly tracking a set of non-periodic keyframes. By using a reduced-order model, we formulate a hybrid planning framework where the center-of-mass motion is constrained to a general surface manifold. This framework also proposes phase-space bundles to characterize robustness and a robus...
متن کاملMobility of Legged Robot Locomotion with Elastically-suspended Loads over Rough Terrain
Elastically-suspended loads can reduce the energetic cost of legged robot locomotion over flat ground. In this paper, we studied the effect of elastically-suspended loads on the mobility of legged robot locomotion over rough terrain. The power input and speed of a simple hexapod robot running over rough terrain with an elastically-suspended load and a rigidly-attached load was compared. On aver...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE sensors letters
سال: 2021
ISSN: ['2475-1472']
DOI: https://doi.org/10.1109/lsens.2021.3049954