Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot
Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots. Aiming at solving the positioning problem of humanoid robots, we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU. We modeled the forward...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-03-01
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| Series: | Biomimetic Intelligence and Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000548 |
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| author | Huailiang Ma Aiguo Song Jingwei Li Ligang Ge Chunjiang Fu Guoteng Zhang |
| author_facet | Huailiang Ma Aiguo Song Jingwei Li Ligang Ge Chunjiang Fu Guoteng Zhang |
| author_sort | Huailiang Ma |
| collection | DOAJ |
| description | Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots. Aiming at solving the positioning problem of humanoid robots, we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU. We modeled the forward kinematics of the leg of the humanoid robot and used Kalman filter to fuse the kinematics information with IMU data, resulting in an accurate estimate of the humanoid robot’s position and velocity. This odometry method can be applied to different humanoid robots, requiring only that the robot is equipped with joint encoders and an IMU. It can also be extended to other legged robots. The effectiveness of the legged odometry scheme was demonstrated through simulations and physical tests conducted with the Walker2 humanoid robot. |
| format | Article |
| id | doaj-art-eaad05318da74a7590b3940aa5a944db |
| institution | Kabale University |
| issn | 2667-3797 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-eaad05318da74a7590b3940aa5a944db2025-01-18T05:05:29ZengElsevierBiomimetic Intelligence and Robotics2667-37972025-03-0151100196Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robotHuailiang Ma0Aiguo Song1Jingwei Li2Ligang Ge3Chunjiang Fu4Guoteng Zhang5School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaSchool of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, SingaporeResearch Institute of UBTECH Robotics, Shenzhen 518000, ChinaResearch Institute of UBTECH Robotics, Shenzhen 518000, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Corresponding author.Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots. Aiming at solving the positioning problem of humanoid robots, we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU. We modeled the forward kinematics of the leg of the humanoid robot and used Kalman filter to fuse the kinematics information with IMU data, resulting in an accurate estimate of the humanoid robot’s position and velocity. This odometry method can be applied to different humanoid robots, requiring only that the robot is equipped with joint encoders and an IMU. It can also be extended to other legged robots. The effectiveness of the legged odometry scheme was demonstrated through simulations and physical tests conducted with the Walker2 humanoid robot.http://www.sciencedirect.com/science/article/pii/S2667379724000548Humanoid robotsState estimationLegged odometryKalman filter |
| spellingShingle | Huailiang Ma Aiguo Song Jingwei Li Ligang Ge Chunjiang Fu Guoteng Zhang Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot Biomimetic Intelligence and Robotics Humanoid robots State estimation Legged odometry Kalman filter |
| title | Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot |
| title_full | Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot |
| title_fullStr | Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot |
| title_full_unstemmed | Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot |
| title_short | Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot |
| title_sort | legged odometry based on fusion of leg kinematics and imu information in a humanoid robot |
| topic | Humanoid robots State estimation Legged odometry Kalman filter |
| url | http://www.sciencedirect.com/science/article/pii/S2667379724000548 |
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