javier hidalgo carrió dfki bremen & universität bremen robotics innovation center ...
TRANSCRIPT
Javier Hidalgo Carrió
DFKI Bremen & Universität Bremen
Robotics Innovation Center
www.dfki.de/robotics
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