Pose-and-twist estimation of a rigid body using accelerometers

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2873-2878

  Parsa, Kourosh ^a   Angeles, J ^a   Misra, A K ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Accelerometer; Attitude; Estimation; Pose; Rigid body kinematics; Twist

Indexed keywords

RIGID-BODY KINEMATICS;

ACCELEROMETERS; ALGORITHMS; COMPUTER SIMULATION; FIBER OPTIC SENSORS; FLEXIBLE MANIPULATORS; KINEMATICS; VELOCITY MEASUREMENT;

MOBILE ROBOTS;

EID: 0034871729     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2001.933057     Document Type: Article

References (13)

1. Mobile robot attitude estimation by fusion of inertial data
2. Circumventing dynamic modelling: Evaluation of the error-state Kalman fillter applied to mobile-robot localization
3. Smoother-based 3D attitude estimation for mobile-robot localization
4. Deterministic EKF-like estimator for spacecraft attitude estimation
5. Computation of rigid-body angular acceleration from point acceleration measurements
6. Rigid-body pose and twist estimation in the presence of noisy redundant measurements
7. Determination of first and second order instant screw parameters from landmark trajectories
8. Smart move human machine interface, volume 1A: Report for phase II, Part II
9. An optimal normalization scheme