Second-order Kinematics for Floating-base Robots using the Redundant Acceleration Feedback of an Artificial Sensory Skin
Quentin Leboutet,J. Rogelio Guadarrama-Olvera,Florian Bergner,Gordon Cheng,Quentin Leboutet,J. Rogelio Guadarrama-Olvera,Florian Bergner,Gordon Cheng
In this work, we propose a new estimation method for second-order kinematics for floating-base robots, based on highly redundant distributed inertial feedback. The linear acceleration of each robot link is measured at multiple points using a multimodal, self-configuring and self-calibrating artificial skin. The proposed algorithm is two-fold: i) the skin acceleration data is fused at the link leve...
