Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Attitude Estimation of a Foot for Biped Robots Using Multiple Sensors

다중 센서 융합을 통한 이족 보행 로봇 발의 자세 추정

  • Ryu, Je-Hun (Dept. of Electrical and Electronic Eng. Yonsei Univ.) ;
  • You, Bun-Jae (IRC, Korea Institute of Science and Technology) ;
  • Park, Min-Yong (Dept. of Electrical and Electronic Eng. Yonsei Univ.) ;
  • Kim, Do-Yoon (IRC, Korea Institute of Science and Technology) ;
  • Choi, Young-Jin (IRC, Korea Institute of Science and Technology) ;
  • Oh, Sang-Rok (IRC, Korea Institute of Science and Technology)
  • 류제훈 (연세대학교 전기전자공학과) ;
  • 유범재 (한국과학기술연구원 지능로봇센터) ;
  • 박민용 (연세대학교 전기전자공학과) ;
  • 김도윤 (한국과학기술연구원 지능로봇센터) ;
  • 최영진 (한국과학기술연구원 지능로봇센터) ;
  • 오상록 (한국과학기술연구원 지능로봇센터)
  • Published : 2004.11.12
Download PDF
⟨ Previous Next ⟩

Abstract

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

Keywords