用惯性传感器实时估机器人关节参数，实现现场组装后快速重定位。
A Robot Kinematics Model Estimation Using Inertial Sensors for On-Site Building Robotics
- 通过IMU测量角速度与离心力，推算关节相对位姿
- 更换连杆组合后仍能精准到达目标位置
- 适合现场快速部署的可重构机器人系统
为提升机器人在多样环境中的实用性，需具备高便携性与易存储性。本文提出“现场机器人”概念，即在使用地就地获取部件，并针对便携性与存储性问题提出新解。作为概念验证，本文提出一种基于惯性测量单元（IMU）的机器人运动学模型估计方法：在刚性连杆上安装IMU模块，通过角速度估计各模块间相对姿态，利用离心力测量推算相对位置。实验中，由木棒组成的机器人在改变连杆组合后，经重新估计即可立即准确到达目标位置，证明其可在重组后快速恢复作业能力。代码已开源：https://github.com/hiroya1224/urdf_estimation_with_imus。
原文摘要 · Abstract (English)
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose "on-site robotics", which uses parts procured at the location where the robot will be active, and propose a new solution to the problem of portability and storability. In this paper, as a proof of concept for on-site robotics, we describe a method for estimating the kinematic model of a robot by using inertial measurement units (IMU) sensor module on rigid links, estimating the relative orientation between modules from angular velocity, and estimating the relative position from the measurement of centrifugal force. At the end of this paper, as an evaluation for this method, we present an experiment in which a robot made up of wooden sticks reaches a target position. In this experiment, even if the combination of the links is changed, the robot is able to reach the target position again immediately after estimation, showing that it can operate even after being reassembled. Our implementation is available on https://github.com/hiroya1224/urdf_estimation_with_imus .
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