A hybrid approach to fast and accurate localization for legged robots

Abstract

SUMMARYThis paper describes a hybrid approach to a fast and accurate localization method for legged robots based on Fuzzy-Markov (FM) and Extended Kalman Filters (EKF). Both FM and EKF techniques have been used in robot localization and exhibit different characteristics in terms of processing time, convergence, and accuracy. We propose a Fuzzy-Markov–Kalman (FM–EKF) localization method as a combined solution for a poor predictable platform such as Sony Aibo walking robots. The experimental results show the performance of EKF, FM, and FM-EKF in a localization task with simple movements, combined behaviors, and kidnapped situations. An overhead tracking system was adopted to provide a ground truth to verify the performance of the proposed method.

An interactive HRI for walking robots in RoboCup

“…Five markers are placed on observable joints of a AIBO robot in order to obtain the robot pose (x, y, θ, ϕ) through tracking a mass skeleton [6]. The obtained experimental results are compared among Extended Kalman Filter (EKF), Fuzzy-Markov (FM) and Fuzzy-Markov-Kalman (FM-EKF) methods [9]. The experiments also show real-time and simulated trajectories for robot localisation whenever they were in use of the proposed human-robot interface.…”

“…With the proposed hybrid platform, the progress of experiments is displayed on the screen directly and any problem with the experiment can be seen immediately, i.e. a convenient way to develop control and vision algorithms [8] and [9].…”

Optimal gait generation for quadruped robots using mesh adaptive direct search

“…Analysis and design of legged robots are interesting topics that have attracted much attention from researchers in recent years (Samperio et al, 2008;Smith and Jivraj, 2015;Vundavili and Pratihar, 2011). Legged robots have different applications such as transportation of heavy loads and rescue operations, which are very helpful in human's life.…”

Modeling and robust backstepping control of an underactuated quadruped robot in bounding motion

“…The legged robots are an important class of biologically inspired robotic systems, which have been investigated by many researchers in the past three decades. 1,2 The quadruped robots due to their similar capabilities with the natural walking/running animals have attracted much attention in recent years. Little-Dog is a successful example of such robots, which can move in rough terrain and climb from obstacles with walking and bounding gaits.…”