Constrained, Networked Inertial Navigation for Human and Humanoid Robot Feet Pose Estimation

Leonardo Le and Demoz Gebre-Egziabher

Abstract:	This paper analyzes algorithms and sensor fusion architectures used to mechanize a self-contained, pose-estimation for the feet of humans or humanoid robots. The approaches makes use of a network of low-cost, inertial measurement units (IMUs) affixed to the feet. By leveraging known equality and inequality constraints between the motion and location of the IMUs, drift due to inertial sensor output errors are reduced or eliminated. Two sensor fusion approaches are evaluated; a de-centralized estimator and centralized estimator. Experimental results demonstrating the performance of these fusion schemes are presented. Issues associated with tuning the de-centralized and centralized estimators are discussed in detail.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	76 - 84
Cite this article:	Le, Leonardo, Gebre-Egziabher, Demoz, "Constrained, Networked Inertial Navigation for Human and Humanoid Robot Feet Pose Estimation," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 76-84. https://doi.org/10.1109/PLANS.2016.7479685
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