A Screw Representation for Aiding State Estimation with Application to Dynamic Quadrupedal Locomotion

A Screw Representation for Aiding State Estimation with Application to Dynamic Quadrupedal Locomotion. Singh, S. P. N., Trujillo, S., & Waldron, K. J. 2008.
abstract bibtex

Effcient motion estimation is central to observing and controlling dynamic legged locomotion. This paper considers a screw-theoretic (line-oriented) representation for this context and illustrates this on the attitude estimation subproblem. This is presented as part of an Extended Kalman Filter (EKF) based on inertial (gyroscopic) sensing in which each measurement axis is treated as an zero pitch, instantaneous screw axis. The implemented solution integrates this to tracks both the orientation and the body screw-axis. In comparison to point-oriented (quaternion) representations, this method is more general, computationally efficient, and provides a more intuitive mechanism for specifying motion constraints, especially for rotary joint motion(s) such as those that at the foot. This technique is demonstrated on a trotting quadrupedal robot at a 250 Hz rate and with drift errors limited to a 5deg bound.

@CONFERENCE{spns.romansy.sekf,
  author = {S. P. N. Singh and S. Trujillo and K. J. Waldron},
  title = {A Screw Representation for Aiding State Estimation with Application
	to Dynamic Quadrupedal Locomotion},
  booktitle = {Proceedings of {ROMANSY} 17: Robot Design, Dynamics, and Control},
  year = {2008},
  abstract = {Effcient motion estimation is central to observing and controlling
	dynamic legged locomotion. This paper considers a screw-theoretic
	(line-oriented) representation for this context and illustrates this
	on the attitude estimation subproblem. This is presented as part
	of an Extended Kalman Filter (EKF) based on inertial (gyroscopic)
	sensing in which each measurement axis is treated as an zero pitch,
	instantaneous screw axis. The implemented solution integrates this
	to tracks both the orientation and the body screw-axis. In comparison
	to point-oriented (quaternion) representations, this method is more
	general, computationally efficient, and provides a more intuitive
	mechanism for specifying motion constraints, especially for rotary
	joint motion(s) such as those that at the foot. This technique is
	demonstrated on a trotting quadrupedal robot at a 250 Hz rate and
	with drift errors limited to a 5deg bound.},
  pdf = {spns.romansy.sekf.pdf}
}

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