Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.04a
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- Pages.343-345
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- 2007
Design of Inertial Navigation System for Localization of Biped Robots
이족로봇의 위치 인식을 위한 관성항법시스템 설계
- Published : 2007.04.27
Abstract
This paper proposes an inertial navigation system(INS) with which a biped robot can determine his position, velocity, posture, etc. The proposed system provides the information of robots independently without using any outer signals. The defect of the algorithm is the en'or accumulation as the robot increases the mobile range. However, in this application the problem is not so critical because the working space is small and operation period of the robots is relatively short. With the proposed INS system biped robots obtain enhanced intelligence to execute their tasks. The structure and theoretical backgrounds are utilized to design the INS system. The method for application of INS system to biped robots has been illustrated.