Eelis Peltola

Angle Estimation for Robotic Arms on Floating Base Using Low-Cost IMUS

An algorithm that uses low-cost inertial measurement units (IMUs) for estimating link angles for floating base robotic platforms is proposed. Each link has four IMUs attached on its surfaces, and an Extended Kalman Filter (EKF) and a Complementary Filter (CF) are used for fusing the sensors' data. T…