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Chayapol_Beokhaimook_MS_thesis.pdf (20.84 MB)

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Implementation of Multi-sensor Perception System for Bipedal Robot

Beokhaimook, Chayapol
http://orcid.org/0000-0001-6244-9223
http://rave.ohiolink.edu/etdc/view?acc_num=osu1638450975228486

Abstract Details

2021, Master of Science, Ohio State University, Mechanical Engineering.
Bipedal robots are becoming more popular in performing tasks in an environment that is designed for humans. For this purpose, most bipedal robots are equipped with various sensors to sense the robot’s environment. From the measurements of the sensors, a perception system is implemented to translate and convert the raw data into a meaningful format corresponding to the tasks and also provide safety for humans, properties in the environment as well as the robot itself. This thesis presents the implementation of a perception system using various sensors available to a bipedal robot, Digit, to obtain objectively useful information of the environment as well as the state of the robot itself. Various methods of data processing were applied to available sensor measurements, then a mapping algorithm was implemented to generate a 3D model of the environment. Simultaneous localization and mapping (SLAM) algorithm was also implemented to perform mapping and provide odometry for localization in the absence of an external source of odometry. We found that performing SLAM using Light Detection and Ranging sensor (LiDAR) performs exceptionally well on the bipedal robot in closed indoor space. Additionally, state estimation is implemented with Invariant Extended Kalman filter using inertial measurement data and the assumption of contact points to predict the state of the robot over time. The performance of position estimation from Invariant Extended Kalman filter and odometry from LiDAR SLAM is compared with the default state estimator from Digit itself which are demonstrated through an experiment with ground truth reference.
Keith Redmill (Committee Member)
Ayonga Hereid (Advisor)
Mechanical Engineering; Robotics
Perception; Bipedal robot; 3D mapping; State estimation

Recommended Citations

Citations

  • Beokhaimook, C. (2021). Implementation of Multi-sensor Perception System for Bipedal Robot [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1638450975228486

    APA Style (7th edition)

  • Beokhaimook, Chayapol. Implementation of Multi-sensor Perception System for Bipedal Robot. 2021. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1638450975228486.

    MLA Style (8th edition)

  • Beokhaimook, Chayapol. "Implementation of Multi-sensor Perception System for Bipedal Robot." Master's thesis, Ohio State University, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=osu1638450975228486

    Chicago Manual of Style (17th edition)

osu1638450975228486
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© 2021, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.
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