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)


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.


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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

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