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A leg proprioception based 6 DOF odometry for statically stable walking robots

Görner, Martin and Stelzer, Annett (2013) A leg proprioception based 6 DOF odometry for statically stable walking robots. Autonomous Robots, 34 (4), pp. 311-326. Springer. doi: 10.1007/s10514-013-9326-3. ISSN 0929-5593.


Official URL: http://link.springer.com/article/10.1007/s10514-013-9326-3


This article presents a3Dodometry algorithm for statically stable walking robots that only uses proprioceptive data delivered by joint angle and joint torque sensors embedded within the legs. The algorithm intrinsically handles each kind of emerging statically stable gait and is independent of predefined gait patterns. Additionally, the algorithm can be equally applied to stiff robots as well as to robots with compliant joints. Based on the proprioceptive information a 6 degrees of freedom (DOF) pose estimate is calculated in three steps. First, point clouds, represented by the foot positions with respect to the body frame at two consecutive time steps, are matched and provide a 6 DOF estimate for the relative body motion. The obtained relative motion estimates are summed up over time giving a 6 DOF pose estimate with respect to the start frame. Second, joint torque measurement based pitch and roll angle estimates are determined. Finally in a third step, these estimates are used to stabilize the orientation angles calculated in the first step by data fusion employing an error stateKalman filter. The algorithm is implemented and tested on the DLR Crawler, an actively compliant sixlegged walking robot. For this specific robot, experimental data is provided and the performance is evaluated in flat terrain and on gravel, at different joint stiffness settings and for various emerging gaits. Based on this data, problems associated with the odometry of statically stable walking robots are identified and discussed. Further, some results for crossing slopes and edges in a complete 3D scenario are presented.

Item URL in elib:https://elib.dlr.de/83232/
Document Type:Article
Title:A leg proprioception based 6 DOF odometry for statically stable walking robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Görner, MartinUNSPECIFIEDhttps://orcid.org/0009-0001-3418-574XUNSPECIFIED
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 311-326
EditorsEmailEditor's ORCID iDORCID Put Code
Keywords:Leg odometry · Hexapod robot · Legged robot · Pose estimation · Orientation data fusion · Proprioception
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Görner, Martin
Deposited On:04 Jul 2013 17:36
Last Modified:07 Nov 2023 08:16

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