Proceedings of the International Symposium on Flexible Automation
Online ISSN : 2434-446X
2022 International Symposium on Flexible Automation
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INERTIAL BASED ZERO VELOCITY UPDATE ALGORITHM FOR PLANAR WORM-LIKE LOCOMOTION ROBOTS
Hongsen PangXiaoxu ZhangJian XuHongbin Fang
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p. 243-249

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State perception of a worm-like robot in an unstructured environment is a prerequisite for precise locomotion control. One of the current mainstream methods is to use inertial measurement units (IMU). However, due to sensor drift and the existence of uncertainty in the environment, the state estimator errors will accumulate. To solve this problem and to make it applicable to worm-like robots, the IMU data of the robot segments under different locomotion gaits are experimentally acquired and examined. Based on the variance threshold, the acceleration, and the angular velocity of the robot segment, a sliding window multi-threshold zero-velocity update (ZUPT) method is proposed. This method can solve the problem of pseudo-zero velocity interval and pseudo-motion interval induced by gait switching and sensor cumulative error under a single judgment condition, thereby improving the accuracy of the IMU in the perception of the state worm-like robots.

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© 2022 The Institute of Systems, Control and Information Engineers
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