A Gait Based Approach to Detect Directional Bias of Four-Legged Robots' Direct Walking Utilizing Acceleration Sensors

摘要

In this paper, we propose an effective approach to detect the directional bias of walking four-legged robots. We found that light weight four-legged robots tend to have unstable directional bias even when walking on flat ground, thus this approach is designed to be able to dynamically and continuously detect the directional bias. By observing and analyzing data from acceleration sensors of AIBO robots, we found the relational model between the acceleration data and the walking gaits by which we may utilize to develop an ideal gait based approach to detect directional bias. In order to make sure the correctness of our approach, several experiments were designed and executed. As a result, we can correctly detect the direction of bias within five gaits, and the correct rate of single gait can be up to 90%.