Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units
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 involv...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-08-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1211531/full |
| _version_ | 1797738283723128832 |
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| author | Federico Allione Federico Allione Juan D. Gamba Antonios E. Gkikakis Roy Featherstone Darwin Caldwell |
| author_facet | Federico Allione Federico Allione Juan D. Gamba Antonios E. Gkikakis Roy Featherstone Darwin Caldwell |
| author_sort | Federico Allione |
| collection | DOAJ |
| description | 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). |
| first_indexed | 2024-03-12T13:41:35Z |
| format | Article |
| id | doaj.art-cd9c450be1e142638006b82a469cee24 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-12T13:41:35Z |
| publishDate | 2023-08-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-cd9c450be1e142638006b82a469cee242023-08-23T18:08:44ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-08-011010.3389/frobt.2023.12115311211531Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement unitsFederico Allione0Federico Allione1Juan D. Gamba2Antonios E. Gkikakis3Roy FeatherstoneDarwin Caldwell4Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, ItalyDepartment of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, ItalyDepartment of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, ItalyDepartment of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, ItalyDepartment of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia, Genoa, ItalyInertial 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).https://www.frontiersin.org/articles/10.3389/frobt.2023.1211531/fullIMUMEMSorientation estimationdriftlegged robotsfailure detection and recovery |
| spellingShingle | Federico Allione Federico Allione Juan D. Gamba Antonios E. Gkikakis Roy Featherstone Darwin Caldwell Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units Frontiers in Robotics and AI IMU MEMS orientation estimation drift legged robots failure detection and recovery |
| title | Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units |
| title_full | Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units |
| title_fullStr | Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units |
| title_full_unstemmed | Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units |
| title_short | Effects of repetitive low-acceleration impacts on attitude estimation with micro-electromechanical inertial measurement units |
| title_sort | effects of repetitive low acceleration impacts on attitude estimation with micro electromechanical inertial measurement units |
| topic | IMU MEMS orientation estimation drift legged robots failure detection and recovery |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1211531/full |
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