@InProceedings{reinstein-icra2011,
  IS = { zkontrolovano 12 Oct 2011 },
  UPDATE  = { 2011-05-19 },
  author =      {Reinstein, Michal and Hoffmann, Matej},
  title =       {Dead reckoning in a dynamic quadruped robot: inertial 
                 navigation system aided by a legged odometer},
  year =        {2011},
  pages =       {617-624},
  booktitle =   {ICRA2011: Proceedings of 2011 IEEE International
                 Conference on Robotics and Automation},
  publisher =   {Omnipress},
  address =     {Madison, USA},
  isbn =        {978-1-61284-386-5},
  issn =        {1050-4729},
  doi =         {10.1109/ICRA.2011.5979609},
  book_pages =  {5120},
  month =       {May},
  day =         {9-13},
  venue =       {Shanghai, China},
  organization ={IEEE Robotics and Automation Society},
  annote =      {It is an important ability for any mobile robot to be
    able to estimate its posture and to gauge the distance it
    travelled. The information can be obtained from various
    sources. In this work, we have addressed this problem in a dynamic
    quadruped robot. We have designed and implemented a navigation
    algorithm for full body state (position, velocity, and attitude)
    estimation that does not use any external reference (such as GPS,
    or visual landmarks). Extended Kalman Filter was used to provide
    error estimation and data fusion from two independent sources of
    information: Inertial Navigation System mechanization algorithm
    processing raw inertial data, and legged odometry, which provided
    velocity aiding. We present a novel data-driven architecture for
    legged odometry that relies on a combination of joint sensor
    signals and pressure sensors. Our navigation system ensures
    precise tracking of a running robot's posture (roll and pitch),
    and satisfactory tracking of its position over medium time
    intervals. We have shown our method to work for two different
    dynamic turning gaits and on two terrains with significantly
    different friction. We have also successfully demonstrated how our
    method generalizes to different velocities.},
  keywords =    {autonomous navigation, multi-legged robots, 
                 biologically-inspired robots},
  prestige =    {important},
  authorship =  {50-50},
  project =     {102/09/H082, MSM6840770015},
  www =         {http://www.icra2011.org/},
}