About: Dead reckoning in a dynamic quadruped robot: inertial navigation system aided by a legged odometer

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The information bout posture and to gauge the distance it travelled can be obtained from various sources. In this work, we have addressed this problem in a dynamic quadruped robot. We have designed and implemented a navigation algorithm for full body state estimation that does not use any external reference . Extended Kalman Filter was used to provide error estimation and data fusion from two independent sources of information: Inertial Navigation System mechanization algorithm processing raw inertial data, and legged odometry, which provided velocity aiding. We present a novel data-driven architecture for legged odometry that relies on a combination of joint sensor signals and pressure sensors. Our navigation system ensures precise tracking of a running robot's posture (roll and pitch), and satisfactory tracking of its position over medium time intervals. We have shown our method to work for two different dynamic turning gaits and on two terrains with significantly different friction. The information bout posture and to gauge the distance it travelled can be obtained from various sources. In this work, we have addressed this problem in a dynamic quadruped robot. We have designed and implemented a navigation algorithm for full body state estimation that does not use any external reference . Extended Kalman Filter was used to provide error estimation and data fusion from two independent sources of information: Inertial Navigation System mechanization algorithm processing raw inertial data, and legged odometry, which provided velocity aiding. We present a novel data-driven architecture for legged odometry that relies on a combination of joint sensor signals and pressure sensors. Our navigation system ensures precise tracking of a running robot's posture (roll and pitch), and satisfactory tracking of its position over medium time intervals. We have shown our method to work for two different dynamic turning gaits and on two terrains with significantly different friction. (en)
Title	Dead reckoning in a dynamic quadruped robot: inertial navigation system aided by a legged odometer Dead reckoning in a dynamic quadruped robot: inertial navigation system aided by a legged odometer (en)
skos:prefLabel	Dead reckoning in a dynamic quadruped robot: inertial navigation system aided by a legged odometer Dead reckoning in a dynamic quadruped robot: inertial navigation system aided by a legged odometer (en)
skos:notation	RIV/68407700:21230/11:00183150!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita	P Z
http://linked.open...avai/riv/aktivity	P(GD102/09/H082), Z(MSM6840770015)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Reinštein, Michal
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	193011
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00183150
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	autonomous navigation; multi-legged robots; biologically-inspired robots (en)
http://linked.open.../riv/klicoveSlovo	autonomous navigation biologically-inspired robots multi-legged robots
http://linked.open...ontrolniKodProRIV	[7817069A50D3]
http://linked.open...v/mistoKonaniAkce	Shanghai
http://linked.open...i/riv/mistoVydani	Madison
http://linked.open...i/riv/nazevZdroje	ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Sensors and intelligent sensor systems
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Hoffmann, M. Reinštein, Michal
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000295396600097
http://linked.open.../riv/zahajeniAkce	2011-05-09 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Research of Methods and Systems for Measurement of Physical Quantities and Measured Data Processing.
issn	1050-4729
number of pages	8 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ICRA.2011.5979609
http://purl.org/ne...btex#hasPublisher	Omnipress
https://schema.org/isbn	978-1-61284-386-5
http://localhost/t...ganizacniJednotka	21230

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