State estimation for ParkourBot Siyuan Feng and Xinjilefu Outline - - PowerPoint PPT Presentation

State estimation for ParkourBot

Siyuan Feng and Xinjilefu

Outline

• System overview
• Problem statement
• Proposed solution

Potential problems

• Potential problems
• Questions

System overview

• 2 legged dynamic climber, jumps between

parallel walls to climb. 5 DOF in total.

• Each leg has 2 DOF, retraction and leg

angle.

• Gyro stabilizer that would passively
• Gyro stabilizer that would passively

stabilize body orientation during impact, and can change body orientation when actuated.

• Periodic hybrid system with alternating stance

and flight phase.

• Off board sensing and computation. Robot

communicates with computer through XBee.

System overview(continued)

• An air table is used to reduce friction and

impose planar constraints.

• Camera mounted on top of air table, captures

(x, y) positions. (x, y) positions.

System overview(continued)

Problem statement

• Want real time estimation of robot

configuration (x, y, θ) and measurement for controls (φ_l, φ_r, r_l, r_r).

• Want to predict the state for next impact.
• Want to predict the state for next impact.
• System identification (damping coefficients for

stance phase dynamics, friction).

• Environment estimation (wall width).

Proposed solution

• EKF for state estimation.
• EM for parameter (damping) tuning.

Potential challenges

• Crappy camera (frequency, resolution,

irregular frame updates, etc)

• Unknown parameters in motion model

(damping, friction). No analytical solution to (damping, friction). No analytical solution to stance dynamics.

• Hard time limits for estimation and prediction.