Drift-free state estimation
Автор: MITDRC
Загружено: 2014-09-10
Просмотров: 726
Demonstration of drift-free state estimation fusing inertial, kinematic and LIDAR information developed by MIT's DRC Team.
The BDI Atlas robot was commanded to walk back 3-4 m and forward a total of 7 times. The BDI controller was commanded to carry out footstep plans. The final footstep in these plans was precisely at the starting point - due to the drift-less estimator.
Note: Before each return the robot briefly stops to be re-issued the goal - this is a very minor limitation of our current interface with the robot.
Instead of watching the video here's some screencaptures. It may be difficult to tell but the robot has moved between each.
Bookmarks of each stationary point:
• Drift-free state estimation
• Drift-free state estimation
• Drift-free state estimation
• Drift-free state estimation
• Drift-free state estimation
• Drift-free state estimation
• Drift-free state estimation
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