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arXiv · 2409.12564

State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body

Kengo Iwao·Hikaru Arita·Kenji Tahara
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Abstract

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential for environmental interaction. We propose a method for simultaneous articulated robot posture estimation and environmental mapping by integrating data from proximity sensors distributed over the whole body. Our method extends the discrete-time model, typically used for state estimation, to the spatial direction of the articulated structure. The simulations demonstrate that this approach significantly reduces estimation errors.

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Kengo Iwao, Hikaru Arita, Kenji Tahara. 2024-09-19. State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body. https://arxiv.org/abs/2409.12564

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