West Pomeranian University of Technology Szczecin - Robust velocity estimation for legged robot using on-board sensors data fusion

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)

Author(s): Pawel Wawrzynaski ; Jakub Mozaryn ; Jan Klimaszewski
Sponsor(s): IEEE Control Syst. Soc.
Publisher: West Pomeranian University of Technology Szczecin
Publication Date: 1 August 2013
Conference Location: Miedzyzdroje, Poland
Conference Date: 26 August 2013
Page(s): 717 - 722
ISBN (CD): 978-1-4673-5507-0
ISBN (Electronic): 978-1-4673-5508-7
ISBN (Paper): 978-1-4673-5506-3
DOI: 10.1109/MMAR.2013.6670000

Availability of momentary velocity of a legged robot is essential for its efficient control. However, estimation of the velocity is difficult, because the robot does not need to touch the ground... View More