In this chapter, we present an approach to reconstruct the pose of serial kinematic chain that aims at reconciling the two previously described, and could be defined as an intermediate way of tackling the problem, see Figure 30.1c. Inspired by (b), we apply to each link of the chain with an inertial measurement unit (IMU), thus estimating its orientation via a quaternion. Then considering the relative orientation of a link with respect another one, and knowing the geometry and the topology of the joint between two links, we are able to compute the joint angles value.
Low-Cost and Accurate Reconstruction of Postures via IMU
GABICCINI, MARCO
2016-01-01
Abstract
In this chapter, we present an approach to reconstruct the pose of serial kinematic chain that aims at reconciling the two previously described, and could be defined as an intermediate way of tackling the problem, see Figure 30.1c. Inspired by (b), we apply to each link of the chain with an inertial measurement unit (IMU), thus estimating its orientation via a quaternion. Then considering the relative orientation of a link with respect another one, and knowing the geometry and the topology of the joint between two links, we are able to compute the joint angles value.File in questo prodotto:
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Descrizione: Capitolo 30 del libro "Multisensor Attitude Estimation" Fundamental Concepts and Applications Edited by Fourati Hassen Belkhiat Djamel Eddine Chouaib Iniewski Krzysztof Taylor & Francis Group, 6000 Broken Sound Parkway NW, Suite 300, Boca Raton, FL 33487-2742 CRC Press 2016
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