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Visual odometry for a legged robot

Subject: Visual odometry for a legged robot
Staff Mentor: prof. R. Babuška
Other Mentor(s): Gabriel Lopes
Keywords: Mechatronics, robotics and micro-systems; Statistical signal processing
Description: Odometry can be achieved for wheeled robots by counting the number of revolutions of each wheel. In legged robots the same is not true due to the unpredictable intermediate contact interactions with the ground.

The goal of this project is to study the feasibility of vision based odometry for a highly mobile legged robot navigating in unstructured environments.

Research Questions

  • What are the classes of computer vision algorithms that result in better odometry accuracy?
  • Can one augment vision with other types of sensors (e.g. accelerometers) to achieve full body pose estimation? How do these ideas compare to animals?
  • What types of walking gaits best suit the vision algorithms?

Dynamic legged robot

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Last modified: 30 November 2009, 9:12 UTC
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