Leg Odometry
rua0ra1 opened this issue · comments
Hi,
I am working on quadruped robot project. I have successfully drive the robot around (only couple of meters) using champ package. But, I found out some issues in robot position estimated by robot localisation package. So, I was trying to understand how you are doing leg odometer. But, I couldn't wrap my head around it. I am wondering is there any academic article or paper which would help me to understand logic behind champ leg odometer. I really appreciate if you can provide me with such information.
First, the robot calculates each leg's position (ref to inertial frame)by doing forward kinematics and then differentiate those positions to get the velocity
Thank you Juan for reply and answering my question