Dead Reckoning Navigation For Walking Robots

Roston, Gerald P.; Krotkov, Eric

doi:10.1109/iros.1992.587401

Cited by 36 publications

(22 citation statements)

References 9 publications

(1 reference statement)

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“…Proprioceptive state estimation for bipedal robots followed from original advances in the field of multi-legged robotics such as Roston and Krotkov [2]. For example, Bloesch et al [3] first introduced an EKF-based state estimator for a quadruped which Rotella et al [4] extended for bipedal state estimation.…”

Section: Related Work a Localization Of Humanoid Robotsmentioning

confidence: 99%

“…The main requirements we identify for such a localization system are (1) accuracy close to 1 − 2 cm on average in position and below 1 • in orientation, (2) reliability in real semi-structured environments, and (3) registration to a single reference point cloud 2 while supporting large translation offsets of as much as 14 m (∼ half the sensor range) and the resulting decrease in overlap, as in Figure 10.…”

Section: System Overview and Requirementsmentioning

confidence: 99%

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Overlap-based ICP tuning for robust localization of a humanoid robot

Nobili

Scona

Caravagna

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-State estimation techniques for humanoid robots are typically based on proprioceptive sensing and accumulate drift over time. This drift can be corrected using exteroceptive sensors such as laser scanners via a scene registration procedure. For this procedure the common assumption of high point cloud overlap is violated when the scenario and the robot's point-of-view are not static and the sensor's field-of-view (FOV) is limited. In this paper we focus on the localization of a robot with limited FOV in a semi-structured environment. We analyze the effect of overlap variations on registration performance and demonstrate that where overlap varies, outlier filtering needs to be tuned accordingly. We define a novel parameter which gives a measure of this overlap. In this context, we propose a strategy for robust non-incremental registration. The pre-filtering module selects planar macro-features from the input clouds, discarding clutter. Outlier filtering is automatically tuned at run-time to allow registration to a common reference in conditions of non-uniform overlap. An extensive experimental demonstration is presented which characterizes the performance of the algorithm using two humanoids: the NASA Valkyrie, in a laboratory environment, and the Boston Dynamics Atlas, during the DARPA Robotics Challenge Finals.

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Section: Related Work a Localization Of Humanoid Robotsmentioning

confidence: 99%

Section: System Overview and Requirementsmentioning

confidence: 99%

Overlap-based ICP tuning for robust localization of a humanoid robot

Nobili

Scona

Caravagna

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…The calculation of the walking robot odometry is based on the solution presented by Roston & Krotkov (1992). Unlike AMBLER, which moved only one leg at a particular time, LAURON III in general swings multiple legs simultaneously.…”

Section: Perceptionmentioning

confidence: 99%

Biologically inspired walking machines: design, control and perception

Dillmann

Albiez

Gaßmann

et al. 2006

Phil. Trans. R. Soc. A.

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This article presents a set of methods used to support the design and control of biologically inspired walking machines. Starting with a description of the general system design idea, an example for the design of the mechanical construction, a computer supported design procedure for the control architecture and the description of a threedimensional world model to be used as knowledge base is given. The focus of this paper is on the engineering and integration process and the interrelation between the different phases of the design process.

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“…[9,10] On the other hand, in the field of legged robots, the relative motion of the body with respect to the supporting foot is often utilized. [11][12][13] The supporting foot is assumed to be fixed on the ground during one step, so that the position of the body is obtained by the kinematics computation rooted to the supporting foot (KCSF) in the conventional methods. KCSF is not very reliable since the foot often rotates about the contact point, rolls on the terrain or even leaves the ground in more dynamic locomotions.…”

Section: Introductionmentioning

confidence: 99%

Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation

Masuya¹,

Sugihara²

2015

Advanced Robotics

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A novel technique of dead reckoning for high-rate feedback control of biped robots is proposed. A fast position estimation of a robot is achieved by fusing information only from internal sensors including joint angle encoders, inertial sensors and force sensors. It combines the kinematics computation and the double integral of acceleration in a complementary way in order to improve the accuracy. The kinematics computation takes the movement of supporting foot, particularly, rotation about a fixed point and rolling on the terrain into consideration. The weights on each information are adjusted automatically based on the reaction force from the ground as it is expected to reflect the certainty of the contact condition of each foot. The validity of the proposed method is verified through computer simulations.

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Dead Reckoning Navigation For Walking Robots

Cited by 36 publications

References 9 publications

Overlap-based ICP tuning for robust localization of a humanoid robot

Overlap-based ICP tuning for robust localization of a humanoid robot

Biologically inspired walking machines: design, control and perception

Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation

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