Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units.

Autor:	Allione F; Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, Italy.; Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy., Gamba JD; Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, Italy., Gkikakis AE; Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, Italy., Featherstone R; Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, Italy.; Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy., Caldwell D; Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, Italy.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2023 Aug 23; Vol. 10, pp. 1211531. Date of Electronic Publication: 2023 Aug 23 (Print Publication: 2023).
DOI:	10.3389/frobt.2023.1211531
Abstrakt:	Inertial Measurement Units are present in several applications in aerospace, unmanned vehicle navigation, legged robots, and human motion tracking systems, due to their ability to estimate a body's acceleration, orientation and angular rate. In contrast to rovers and drones, legged locomotion involves repeated impacts between the feet and the ground, and rapid locomotion (e.g., running) involves alternating stance and flight phases, resulting in substantial oscillations in vertical acceleration. The aim of this research is to investigate the effects of periodic low-acceleration impacts (4 g, 8 g and 16 g), which imitate the vertical motion of a running robot, on the attitude estimation of multiple Micro-Electromechanical Systems IMUs. The results reveal the presence of a significant drift in the attitude estimation of the sensors, which can provide important information during the design process of a robot (sensor selection), or during the control phase (e.g., the system will know that after a series of impacts the attitude estimations will be inaccurate). Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2023 Allione, Gamba, Gkikakis, Featherstone and Caldwell.)
Databáze:	MEDLINE
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