Velocity Estimation for Quadrupeds Based on Extended Kalman Filter
2014 ◽
Vol 621
◽
pp. 525-532
◽
Keyword(s):
Measuring robots’ real-time velocity correctly is important for locomotion control. Inertial Measurement Unit (IMU) is widely used for velocity measurement. Limited by the bias and random error, IMU alone often can’t meet the requirement. This paper makes use of Extended Kalman Filter (EKF) to fuse kinematics and IMU, and inhibits the drift successfully. We calibrate the bias and recognize the random errors of IMU. Then the forward kinematics of legs is established and the EKF algorithm for velocity estimation is designed based on IMU and kinematics. Finally, the presented algorithm is validated in simulation and on a quadruped robot based on hydraulic driver in trotting gait.
2019 ◽
Vol 39
(1)
◽
pp. 143-157
Keyword(s):
Keyword(s):
2014 ◽
Vol 229
(2)
◽
pp. 106-117
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2014 ◽
Vol 602-605
◽
pp. 2958-2961
2018 ◽
Vol 36
(5)
◽
pp. 933-941
2021 ◽
Vol 18
(17)
◽
pp. 9170
2020 ◽
Vol 38
(4)
◽
pp. 806-813