Memorias de investigación
Research Publications in journals:
A Sensor Fusion Method for Pose Estimation of C-Legged Robots
Year:2019

Research Areas
  • Movil robots,
  • Robot design,
  • Navigation,
  • Robot simulation,
  • Slam,
  • Architectures of control of robots,
  • Exterior robots,
  • Telerobots,
  • Robot programmation,
  • Location

Information
Abstract
In this work the authors present a novel algorithm for estimating the odometry of ?C? legged robots with compliant legs and an analysis to estimate the pose of the robot. Robots with ?C? legs are an alternative to wheeled and tracked robots for overcoming obstacles that can be found in different scenarios like stairs, debris, etc. Therefore, this kind of robot has become very popular for its locomotion capabilities, but at this point these robots do not have developed algorithms to implement autonomous navigation. With that objective in mind, the authors present a novel algorithm using the encoders of the legs to improve the estimation of the robot localization together with other sensors. Odometry is necessary for using some algorithms like the Extended Kalman Filter, which is used for some autonomous navigation algorithms. Due to the flexible properties of the ?C? legs and the localization of the rotational axis, obtaining the displacement at every step is not as trivial as in a wheeled robot; to solve those complexities, the algorithm presented in this work makes a linear approximation of the leg compressed instead of calculating in each iteration the mechanics of the leg using finite element analysis, so the calculus level is reduced. Furthermore, the algorithm was tested in simulations and with a real robot. The results obtained in the tests are promising and together with the algorithm and fusion sensor can be used to endow the robots with autonomous navigation.
International
Si
JCR
Si
Title
Sensors
ISBN
1424-8220
Impact factor JCR
3,031
Impact info
Volume
20
10.3390/s20236741
Journal number
23
From page
6741
To page
6779
Month
NOVIEMBRE
Ranking
Participants

Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial