IMU integration for ATRIAS Public Deposited

http://ir.library.oregonstate.edu/concern/undergraduate_thesis_or_projects/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.
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  • description.provenance : Made available in DSpace on 2016-02-15T14:35:39Z (GMT). No. of bitstreams: 2 license_rdf: 1527 bytes, checksum: d4743a92da3ca4b8c256fdf0d7f7680f (MD5) VanWhyJohnathanR2016.pdf: 24596426 bytes, checksum: 91b3b7449314a386d30544dff0ae5861 (MD5)
  • description.provenance : Submitted by Johnathan Van Why (vanwhyj@oregonstate.edu) on 2016-02-12T20:04:33Z No. of bitstreams: 2 license_rdf: 1527 bytes, checksum: d4743a92da3ca4b8c256fdf0d7f7680f (MD5) VanWhyJohnathanR2016.pdf: 24596426 bytes, checksum: 91b3b7449314a386d30544dff0ae5861 (MD5)
  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2016-02-15T14:35:39Z (GMT) No. of bitstreams: 2 license_rdf: 1527 bytes, checksum: d4743a92da3ca4b8c256fdf0d7f7680f (MD5) VanWhyJohnathanR2016.pdf: 24596426 bytes, checksum: 91b3b7449314a386d30544dff0ae5861 (MD5)

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