State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning
Tomonari Furukawa,J. Josiah Steckenrider,Gamini Dissanayake,Tomonari Furukawa,J. Josiah Steckenrider,Gamini Dissanayake
This paper presents a technique for state estimation of a multi-link system having no joint encoders, which can only be partially observed by a camera. To fully observe the system without changing the current configuration, a gyroscope and an accelerometer are attached to each link as dead-reckoning sensors. Observations of the dead-reckoning sensors are associated with the states of the multi-lin...
