Honors College Thesis
 

IMU integration for ATRIAS

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https://ir.library.oregonstate.edu/concern/honors_college_theses/rv042w029

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  • An Inertial Measurement Unit (IMU) is an important part of a freestanding bipedal robot's state estimation system. IMUs return translational accelerations and rotational velocities, which must be numerically integrated to obtain a robot's orientation. This thesis documents the implementation of the IMU alignment and integration systems for the ATRIAS robot. As a result of this work, ATRIAS has responsive and reliable orientation estimation, which allowed it to achieve freestanding walking. Key Words: IMU, bipedal locomotion
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