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State Estimation for Walking Humanoids on Unknown Terrain


Conference Paper



State estimation plays a crucial role in humanoid locomotion;accurate estimates of the pose and velocity of the robotâ??s baseare necessary for walking tasks. Estimation in robotics haslong been focused on mobile robot localization, where wheelodometry and exteroceptive sensor data are fused to provideestimates of absolute position and yaw. While wheeled robotsare assumed to remain stable and in contact at all times,legged locomotion inherently involves intermittent contacts.This makes stability a concern and complicates odometrybasedapproaches, distinguishing estimation for legged systemsfrom that for wheeled robots. More recent approacheson quadruped and hexapod platforms make unreasonable assumptionsabout walking gaits, assume knowledge of the terrainand use exteroceptive sensor data for corrections. However,the utility of such platforms is their potential for operationin unstructured environments in which gaits are reactive,the terrain is unknown and such sensors are unfit for use. Motivatedby the task of providing robust and generic state estimationfor humanoid robots walking on unknown terrain, weintroduce an estimation framework [1] which employs onlyproprioceptive sensors and knowledge of leg kinematics.

Author(s): Rotella, N. and Bloesch, M. and Righetti, L. and Schaal, S.
Book Title: Proceedings of Dynamic Walking
Year: 2014

Department(s): Autonomous Motion, Movement Generation and Control
Research Project(s):
Bibtex Type: Conference Paper (inproceedings)

Address: Zürich, Switzerland
Cross Ref: p10597
Note: clmc
URL: http://www-clmc.usc.edu/publications/R/rotella-DW2014.pdf

Links: PDF


  title = {State Estimation for Walking Humanoids on Unknown Terrain},
  author = {Rotella, N. and Bloesch, M. and Righetti, L. and Schaal, S.},
  booktitle = {Proceedings of Dynamic Walking},
  address = {Zürich, Switzerland},
  year = {2014},
  note = {clmc},
  crossref = {p10597},
  url = {http://www-clmc.usc.edu/publications/R/rotella-DW2014.pdf}