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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.
    Kazemi, Hamed Majd, Vahid Johari and Moghaddam, Majid M. 2013. Modeling and robust backstepping control of an underactuated quadruped robot in bounding motion. Robotica, Vol. 31, Issue. 03, p. 423.
    Kazemi, Hamed Majd, Vahid Johari and Moghaddam, Majid M. 2011. New simplified model for an under-actuated quadruped robot in bounding motion. p. 847.
    SAMPERIO, RENATO HU, HUOSHENG and GU, DONGBING 2008. IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT. International Journal of Information Acquisition, Vol. 05, Issue. 04, p. 331.
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A hybrid approach to fast and accurate localization for legged robots

  • Renato Samperio (a1), Huosheng Hu (a1), Francisco Martín (a2) and Vicente Matellán (a2)
Summary

This paper describes a hybrid approach to a fast and accurate localization method for legged robots based on Fuzzy-Markov (FM) and Extended Kalman Filters (EKF). Both FM and EKF techniques have been used in robot localization and exhibit different characteristics in terms of processing time, convergence, and accuracy. We propose a Fuzzy-Markov–Kalman (FM–EKF) localization method as a combined solution for a poor predictable platform such as Sony Aibo walking robots. The experimental results show the performance of EKF, FM, and FM-EKF in a localization task with simple movements, combined behaviors, and kidnapped situations. An overhead tracking system was adopted to provide a ground truth to verify the performance of the proposed method.

Copyright
COPYRIGHT: © Cambridge University Press 2008
Corresponding author
*Corresponding author. E-mail: renatosamperio@gmail.com
References
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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