Legged Odometry from Body Pose in a Hexapod Robot | Zendy

PeiChun Lin | Zendy; Haldun Komsuoḡlu | Zendy; Daniel E. Koditschek | Zendy

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Legged Odometry from Body Pose in a Hexapod Robot

Author(s) -

PeiChun Lin,

Haldun Komsuoḡlu,

Daniel E. Koditschek

Publication year - 2006

Publication title -

springer tracts in advanced robotics

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.485

H-Index - 49

eISSN - 1610-742X

pISSN - 1610-7438

DOI - 10.1007/11552246_42

Subject(s) - hexapod , odometry , computer vision , robot , artificial intelligence , computer science , pose , ground truth , visual odometry , estimator , legged robot , scheme (mathematics) , mobile robot , mathematics , mathematical analysis , statistics

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.

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