Localization of walking robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1471-1476

  Gaßmann, Bernd ^a   Zacharias, Franziska ^a   Zöllner, J Marius ^a   Dillmann, Rüdiger ^a  

^a FZI RESEARCH CENTER FOR INFORMATION TECHNOLOGY   (Germany)

Author keywords

Kalman Filter; Odometry; Walking robots

Indexed keywords

KALMAN FILTERING; ROBOTIC ASSEMBLY; SENSORS; TRACKING (POSITION);

ODOMETRY; ROBOT LOCALIZATION; WALKING ROBOTS;

MOBILE ROBOTS;

EID: 33846177903     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570322     Document Type: Conference Paper

References (17)

1. John E. Bares and David S. Wettergreen. Dante 11: Technical description, results, and lessons learned. The International Journal of Robotics Research, 18(7):621-649, July 1999.
2. [21 Thomas E. Bihari, Thomas M. Walliser, and Mark R. Patterson. Controlling the adaptive suspension vehicle. Computer, 22(6):59-65, June 1989.
3. [31 Enric Celaya and Josep M. Porta. A control structure for the locomotion of a legged robot on difficult terrain. IEEE Robotics & Automation Magazine, 5(2):43-51, June 1998.
4. F. Cozman, E. Krotkov, and C. Guestrin. Outdoor visual position estimation for planetary rovers. Automomous Robots, 9:135-150, 2000.
5. M. Frik, M. Guddat, M. Karatas, and C. D. Losch. A novel approach to autonomous control of walking machines. In Proceedings of the 3th International Conference on Climbing and Walking Robots, pages 333-342, Portsmouth, UK, 1999.
6. Y. Fuke and E. Krotkov. Dead reckoning for a lunar rover on uneven terrain. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 1, pages 411-416. IEEE, 1996.
7. [71 B. Gaßmann, L. Frommberger, R. Dillmann, and K. Berns. Improving the walking behaviour of a legged robot using a three-dimensional environment model. In Proceedings of the 6th International Conference on Climbing and Walking Robots, pages 319-326, Catania, Italy, September 2003.
8. [81 P. Goel, S. I. Roumeliotis, and G. S. Sukhatme. Robust localization using relative and absolute position estimates. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pages 1134-1140. IEEE, 1999.
9. [91 Atsushi Konno, Noriyoshi Kato, Yusuke Mitsuya, and Masaru Uchiyama. Design and development of the quadrupedal research platform jrob-2. In Proceedings of the IEEE International Conference on Robotics & Automation, pages 1056-1061, Washington, DC, USA, May 2002. IEEE.
10. Gerald P. Roston and Eric P. Krotkov. Dead reckoning navigation for walking robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 607-612, Raleigh, NC, USA, July 1992. IEEE/RSJ.
11. Sarjoun Skaff, George Kantor, David Maiwand, and Alfred A. Rizzi. Inertial navigation and visual line following for a dynamical hexapod robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 2, pages 1808-1813, Las Vegas, NV, USA, October 2003.
12. D. Spenneberger and F. Kirchner. Scorpion: A biomimetic walking robot. In Robotik 2002, volume 1679 of VDI-Bericht, pages 677-682, 2002.
13. F. Stein and G. Medioni. Map-based localization using the panoramic horizon. IEEE Transactions on Robotics and Automation, 11(6):892-896, 1995.
14. S. Sukkarieh, E. Nebot, and H. F. Durrant-Whyte. A high integrity imu/gps navigation loop for autonomous land vehicle applications. IEEE Transactions on Robotics and Automation, 15(3):571-578, 1999.
15. H. J. Weidemann, F. Pfeiffer, and J. Elze. The six-legged tum walking robot. In Proceedings of the IEEE International Conference on Robots and Systems, pages 1026-1033, Munchen, Deutschland, September 1994.
16. J. Wendel. Entwurfs- und Analysemethoden Integrierter Navigationssysteme. PhD dissertation, Universität Karlsruhe, Fakultät für Elektrotechnik und Informationstechnik, 2003.
17. David Wettergreen, Hans Thomas, and Chuck Thorpe. Planning strategies for the ambler walking robot. In Proceedings of IEEE International Conference on Systems Engineering, pages 198-203, August 1990.