A velocity estimation method of quadruped robot

Abstract

A state estimation method of quadruped robot was researched,and a velocity estimation method of a quadruped robot based on the kinematic model was proposed.Firstly,the mechanical structure and motion mechanism of the robot were analyzed,and then a velocity estimation method based on the one-leg kinematic model and a velocity integrated method of multi-legs were proposed.Theoretical result of the algorithm was compared with the simulation result obtained from the dynamic simulation environment,and the experiment has been performed on the high-performance hydraulically actuated quadruped bionic robot platform.The results show that the proposed method is effective.