Towards High-Fidelity on Board Attitude Estimation for Legged Locomotion via a Hybrid Range and Inertial Approach. Singh, S. P. N. & Waldron, K. J. In Ang, M. H. & Khatib, O., editors, Experimental Robotics IX, volume 21, of Springer Tracts in Advanced Robotics, pages 589-598, 2006.
doi  abstract   bibtex   
Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While widely applied in robotics, this approach is limited in dynamic legged locomotion due to the excessive accumulation of drift from severe impact shocks (nearly 9 g in single leg experiments). This paper introduces the attitude estimation problem for legged locomotion and shows preliminary results from a more powerful combined range and inertial sensing approach. Based on a modified Extended Kalman Filter the method uses ground-directed range sensors, the stride period, and other periodic features of legged locomotion in order to address inertial drift. Together this provides rapid, robust estimates of flight phases and attitude necessary for extended dynamic legged operations.
@INPROCEEDINGS{iser04,
  author = {Singh, S. P. N. and Waldron, K. J.},
  title = {Towards High-Fidelity on Board Attitude Estimation for Legged Locomotion
	via a Hybrid Range and Inertial Approach},
  booktitle = {{Experimental Robotics {IX}}},
  year = {2006},
  editor = {M. H. Ang and O. Khatib},
  volume = {21},
  series = {{Springer Tracts in Advanced Robotics}},
  pages = {589-598},
  abstract = {Legged robots display a characteristically periodic motion. Measuring
	and tracking this motion has traditionally been performed using general
	inertial measurement techniques. While widely applied in robotics,
	this approach is limited in dynamic legged locomotion due to the
	excessive accumulation of drift from severe impact shocks (nearly
	9 g in single leg experiments). This paper introduces the attitude
	estimation problem for legged locomotion and shows preliminary results
	from a more powerful combined range and inertial sensing approach.
	Based on a modified Extended Kalman Filter the method uses ground-directed
	range sensors, the stride period, and other periodic features of
	legged locomotion in order to address inertial drift. Together this
	provides rapid, robust estimates of flight phases and attitude necessary
	for extended dynamic legged operations.},
  doi = {10.1007/11552246_56}
}

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