Legged Odometry from Body Pose in a Hexapod Robot

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 Comments 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. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/652 Legged Odometry from Body Pose in a Hexapod Robot Pei-Chun Lin , Haldun Komsuoḡlu , and Daniel E. Koditschek Department of Mechanical Engineering, The University of Michigan, Ann Arbor, Michigan, USA [email protected] http://www.umich.edu/ pclin Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, Michigan, USA [email protected] http://www.eecs.umich.edu/ hkomsuog Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, Michigan, USA [email protected] http://ai.eecs.umich.edu/people/kod/ Abstract. 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. 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.