A novel Stereo-IMU system based on accurate pose parameterization of two-wheeled inverted pendulum (TWIP) robot in localization and mapping.
Yanwu ZhaiHaibo FengHaitao ZhouSongyuan ZhangYili FuPublished in: Ind. Robot (2022)
Keyphrases
- inverted pendulum
- open loop
- mobile robot
- loop closing
- legged robots
- feedback control
- biped robot
- simultaneous localization and mapping
- sagittal plane
- simulation study
- nonlinear systems
- control algorithm
- intelligent control
- loop closure
- position and orientation
- initial conditions
- absolute position
- fuzzy controller
- path planning
- pose estimation
- autonomous robots
- closed loop
- fuzzy systems
- multi robot
- robotic systems
- computer vision
- nonlinear dynamical
- stereo matching
- dynamic environments
- real robot
- visual odometry
- depth map
- vision system
- three dimensional
- motion planning
- optimal control
- autonomous navigation
- dynamic model
- soft computing
- fuzzy logic
- knowledge base
- real time