About: Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information

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About: Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information Goto Sponge NotDistinct Permalink

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	It is an important ability for any mobile robot to be able to estimate its posture and to gauge the distance it traveled. In this paper, we have addressed this problem in a dynamic quadruped robot by combining traditional state estimation methods with machine learning. We have designed and implemented a navigation algorithm for full body state (position, velocity, and attitude) estimation that uses no external reference but relies on multimodal proprioceptive sensory information only. The extended Kalman filter (EKF) was used to provide error estimation and data fusion from two independent sources of information: 1) strapdown mechanization algorithm processing raw inertial data and 2) legged odometry. We have devised a novel legged odometer that combines information from a multimodal combination of sensors (joint and pressure). We have shown our method to work for a dynamic turning gait, and we have also successfully demonstrated how it generalizes to different velocities and terrains. Furthermore, our solution proved to be immune to substantial slippage of the robot's feet. It is an important ability for any mobile robot to be able to estimate its posture and to gauge the distance it traveled. In this paper, we have addressed this problem in a dynamic quadruped robot by combining traditional state estimation methods with machine learning. We have designed and implemented a navigation algorithm for full body state (position, velocity, and attitude) estimation that uses no external reference but relies on multimodal proprioceptive sensory information only. The extended Kalman filter (EKF) was used to provide error estimation and data fusion from two independent sources of information: 1) strapdown mechanization algorithm processing raw inertial data and 2) legged odometry. We have devised a novel legged odometer that combines information from a multimodal combination of sensors (joint and pressure). We have shown our method to work for a dynamic turning gait, and we have also successfully demonstrated how it generalizes to different velocities and terrains. Furthermore, our solution proved to be immune to substantial slippage of the robot's feet. (en)
Title	Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information (en)
skos:prefLabel	Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information (en)
skos:notation	RIV/68407700:21230/13:00199258!RIV14-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7E10044)
http://linked.open...iv/cisloPeriodika	2
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Reinštein, Michal
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
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	68051
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00199258
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	legged robots; odometry; dead reckoning; extended Kalman filter; path integration; slippage (en)
http://linked.open.../riv/klicoveSlovo	legged robots path integration slippage dead reckoning extended Kalman filter odometry
http://linked.open...odStatuVydavatele	US - Spojené státy americké
http://linked.open...ontrolniKodProRIV	[612F08ACACEE]
http://linked.open...i/riv/nazevZdroje	IEEE Transactions on Robotics
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	Natural human-robot cooperation in dynamic environments
http://linked.open...UplatneniVysledku	2013
http://linked.open...v/svazekPeriodika	29
http://linked.open...iv/tvurceVysledku	Hoffmann, M. Reinštein, Michal
http://linked.open...ain/vavai/riv/wos	000317493900020
issn	1552-3098
number of pages	9 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/TRO.2012.2228309
http://localhost/t...ganizacniJednotka	21230

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