Odometry correction for humanoid robots using optical sensors

  • Authors:

  • Stefan Czarnetzki;Maximilian Hegele;Sören Kerner

  • Affiliations:

  • Robotics Research Institute, Section Information Technology, TU Dortmund University, Dortmund, Germany;Robotics Research Institute, Section Information Technology, TU Dortmund University, Dortmund, Germany;Robotics Research Institute, Section Information Technology, TU Dortmund University, Dortmund, Germany

  • Venue:
  • RoboCup 2010
  • Year:
  • 2011

Quantified Score

Hi-index 0.00

Visualization

Abstract

Odometry measurement is an important concept to update localization information, but is prone to error propagation. Still the method is widely applied to wheeled mobile robots since their motion is quite robust to random error such as slipping. While the concept of odometry can also be applied to humanoid robots the dynamically stable walking generation reinforces sliding motions resulting in unpredictable errors. Therefore this paper proposes a novel approach to measure these sliding errors with the help of optical sensors to either correct the odometry update or perform suitable actions to counteract the error.