State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning

Furukawa, Tomonari; Steckenrider, J. Josiah; Dissanayake, Gamini

State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning

Date

2021-09-27

Authors

Furukawa, Tomonari

Steckenrider, J. Josiah

Dissanayake, Gamini

Publisher

IEEE

Abstract

This paper presents a technique for state estimation of a multi-link system having no joint encoders, which can only be partially observed by a camera. To fully observe the system without changing the current configuration, a gyroscope and an accelerometer are attached to each link as dead-reckoning sensors. Observations of the dead-reckoning sensors are associated with the states of the multi-link system such that the states are fully observable. The camera, which observes part of the system globally, is used as a global corrector in the framework of an extended Kalman filter to filter the dead-reckoning errors accumulated over time. Parametric studies in simulation have investigated and identified the efficacy of the proposed technique in estimating the state of the multilink system. Experimental validation using a two-link arm has demonstrated the applicability of the proposed technique to real-world multi-link systems.

Keywords

Accelerometers, Dead reckoning, Parametric study, Vehicle crash testing

Citation

T. Furukawa, J. J. Steckenrider and G. Dissanayake, "State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021, pp. 7342-7348, doi: 10.1109/IROS51168.2021.9636132.