Speed estimation based on gait analysis for biobotic agents
2017Vol. 5, pp. 1–3
Citations Over Time
Abstract
Biobotic agents equipped with inertial sensors can be used to explore areas where Global Navigation Satellite Systems such as GPS are not accessible. A common challenge in inertial navigation systems is how to compensate for the error accrued from the inertial measurements. We propose that the distinctive rocking motion present in the gait of some biobotic agents can be used to directly compute the speed of the agent from the inertial measurements, bypassing the need to integrate the speed from the inertial sensors. We present preliminary results highlighting a trend between gait and speed, using measurements obtained from a 9 Degree of Freedom Inertial Measurement Unit mounted on a biobotic agent.
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