Multi-IMU Proprioceptive Odometry for Legged Robots
Shuo Yang,Zixin Zhang,Benjamin Bokser,Zachary Manchester,Shuo Yang,Zixin Zhang,Benjamin Bokser,Zachary Manchester
This paper presents a novel, low-cost proprioceptive sensing solution for legged robots with point feet to achieve accurate low-drift long-term position and velocity estimation. In addition to conventional sensors, including one body Inertial Measurement Unit (IMU) and joint encoders, we attach an additional IMU to each calf link of the robot just above the foot. An extended Kalman filter is used ...
