A Model-Based Approach to Calculating and Calibrating the Odometry for Quadruped Robots

  • Haitao He
  • Xiaoping Chen
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5001)

Abstract

This paper presents a model-based odometry calculation and calibration method (MBO) for quadruped robots. Instead of establishing the direct relation between target and actual speeds as previous methods did, MBO sets up a “parametric physical model” incorporating various properties of the robot and environment such as friction and inertia, through optimization with locomotor data. Based on this optimized model, one can compute the loci of robot legs’ movement by forward kinematics and finally obtain odometric readings by analyzing the loci. Experiments on Sony AIBO ERS-7 robots demonstrate that the odometry error of MBO is generally 50% less than the existing methods. In addition, the calibration complexity is low.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Kelly, A.: Fast and easy systematic and stochastic odometry calibration. In: International Conference on Intelligent Robots and Systems (October 2004)Google Scholar
  2. 2.
    Borenstein, J., Feng, L.: Measurement and correction of systematic odometry errors in mobile robots. IEEE Transactions on Robotics and Automation (December 1996)Google Scholar
  3. 3.
    Chong, K.S., Kleeman, L.: Accurate Odomctry and Error Modelling for a Mobile Robot. In: International Conference on Robotics and Automation, April 1997, pp. 2783–2788 (1997)Google Scholar
  4. 4.
    Düffert, U., Hoffmann, J.: Reliable and Precise Gait Modeling for a Quadruped Robot. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 49–58. Springer, Heidelberg (2006)CrossRefGoogle Scholar
  5. 5.
    Hengst, B., Ibbotson, D., Pham, S.B., Sammut, C.: Omnidirectional locomotion for quadruped robots. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, pp. 368–373. Springer, Heidelberg (2002)CrossRefGoogle Scholar
  6. 6.
    Chen, W.: Odometry Calibration and Gait Optimisation. The University of New Wales School of Computer Science and Engineering, Technical Report (2005)Google Scholar
  7. 7.
    Lin, P.-C., Komsuoḡlu, H., Koditschek, D.E.: Legged Odometry from Body Pose in Hexapod Robot. Experimental Robotics IX, STAR 21, pp. 439-448 (2006)Google Scholar
  8. 8.
    Hengst, B., Ibbotson, D., Pham, S.B., Sammut, C.: The UNSW United 2000 Sony Legged Robot Software System, School of Computer Science and Engineering University of New South Wales, Technial Report (2000)Google Scholar
  9. 9.
    Antonelli, G., Chiaverini, S., Fusco, G.: An Odometry Calibration Method for Mobile Robots Based on the Least-Squares Technique. In: Proceedings of the American Control Conference (June 2003)Google Scholar
  10. 10.
    Stronger, D., Stone, P.: Simultaneous Calibration of Action and Sensor Models on a Mobile Robot. In: IEEE International Conference on Robotics and Automation (April 2005)Google Scholar
  11. 11.
    Röfer, T.: Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 310–322. Springer, Heidelberg (2005)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Haitao He
    • 1
  • Xiaoping Chen
    • 1
  1. 1.Department of Computer ScienceThe University of Science and Technology of ChinaHeFeiChina

Personalised recommendations