IMU integration for ATRIAS

Honors College Thesis

Public Deposited

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

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Attribute Name	Values
Creator	Van Why, Johnathan
Abstract	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
License	All rights reserved
Resource Type	Honors College Thesis
Date Available	2016-02-15T14:35:39+00:00
Date Issued	2016-02-11
Degree Level	Bachelor's
Degree Name	Honors Bachelor of Science (H.B.S.)
Degree Field	Mathematics
Degree Grantor	Oregon State University
Commencement Year	2016
Advisor	Hurst, Jonathan W.
Non-Academic Affiliation	Oregon State University. Honors College
Rights Statement	In Copyright
Publisher	Oregon State University
Peer Reviewed	No
Language	English [eng]
Replaces	http://hdl.handle.net/1957/58303

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