javier hidalgo carrió dfki bremen & universität bremen robotics innovation center ...

Javier Hidalgo Carrió

DFKI Bremen & Universität Bremen

Robotics Innovation Center

www.dfki.de/robotics

javier.hidalgo_carrio@dfki.de

Navigation and Slip Kinematics for HighPerformance Motion Models

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Outline

Motivation

State of the Art

Kinematics Modeling Approach

Results

Conclusion and Questions

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Motivation

The common 3D-planar assumption does not capture the complexity of the system

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Motivation

To find a common solution to easily extend to other systems.Transformation vs Geometric approach

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State of the Art

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State of the Art

P. Muir and C. Neuman (1986): Kinematics Modeling of Wheeled Mobile Robots

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State of the Art

M. Tarokh and G. J. McDermott (2005): Kinematics Modeling and Analysis of Articulated rovers

P. Muir and C. Neuman (1986): Kinematics Modeling of Wheeled Mobile Robots

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State of the Art

M.Görner and G. Hirzinger (2010): Analysis and Evaluation of [..] Eight-legged Walking robot

B. Gassmann (2005): Localization of Walking Robots M. Tarokh and G. J. McDermott (2005): Kinematics Modeling and Analysis of

Articulated rovers P. Muir and C. Neuman (1986): Kinematics Modeling of Wheeled Mobile Robots

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Kinematics Modeling

ATTITUDE

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Kinematics Modeling

ATTITUDE

3D slip vector at the contact point with the ground

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Kinematics Modeling

ATTITUDE

Ground contact angle which defines the direction of motion of the wheel.

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Kinematics Modeling

ATTITUDEJ3j J1j

J2j J0j

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Kinematics Modeling

Least-Squares optimization to minimize the error of an overdetermined system.

It is important to define the single contribution of each wheels to the final movement (wheel-weighting matrix C).

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Results

Space Hall test at DFKI using Vicon System as ground truth

ASGUARD

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Results

The localization results are much better than the conventional odometry

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Results

The wheel-weighting matrix defines the center of rotation

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Results

Slip vector analysis of each single wheel-contact point

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Conclusions

3. Definition of a wheel-weighting matrix to define each wheel contribution

1. Full Kinematics model of a leg-wheel hybrid system (including slip vector)

2. Improvements on motion models (dead-reckoning)

4. Better selection of the contact point

5. Field testing results are next to come

Thank you very much for your attention!!

DFKI Bremen & Universität Bremen

Robotics Innovation Center

Director: Prof. Dr. Frank Kirchner

www.dfki.de/robotics

robotics@dfki.de