On State Estimation for Legged Locomotion over Soft Terrain

被引：11
|
作者：
Fahmi S. [1 ]
Fink G. [1 ]
Semini C. [1 ]
机构：
[1] Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genova
来源：
IEEE Sensors Letters | 2021年 / 5卷 / 01期
关键词：
legged robots; Sensor applications; soft contacts; state estimation;
D O I：
10.1109/LSENS.2021.3049954
中图分类号：
学科分类号：
摘要：
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts and does not take into account the physical parameters of the terrain. That said, this letter answers the following questions: How and why does soft terrain affect state estimation for legged robots? To do so, we utilized a state estimator that fuses IMU measurements with leg odometry that is designed with rigid contact assumptions. We experimentally validated the state estimator with the HyQ robot trotting over both soft and rigid terrain. We demonstrate that soft terrain negatively affects state estimation for legged robots and that the state estimates have a noticeable drift over soft terrain compared to rigid terrain. © 2017 IEEE.
引用
收藏
页码：1 / 4
页数：3
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