The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

A solid-state inertial measurement unit (IMU) referred to as the MotionPak/sup TM/ is described. The IMU developed by BEI Sensors & Systems Company, consists of three micromachined quartz rate sensors and three accelerometers to provide a six degree of freedom (DOF), miniature, high reliability, low cost motion sensor which Carnegie Mellon University is utilizing to adapt to field robotic applications. Theory of operation and applications of the IMU are presented together with preliminary results in fusing the IMU data with a compass for a field robotics application.

Notes

Text Reference

A.M. Madni, Deepak Bapna, Paul Levin, and Eric Krotkov, "Solid-State Six Degree of Freedom, Motion Sensor for Field Robotic Applications," Proceedings of the 1998 Conference on Intelligent Robots and Systems (IROS '98), October, 1998, pp. 1389 - 1398.

BibTeX Reference

@inproceedings{Bapna_1998_893,
   author = "A.M. Madni and Deepak Bapna and Paul Levin and Eric Krotkov",
   title = "Solid-State Six Degree of Freedom, Motion Sensor for Field Robotic Applications",
   booktitle = "Proceedings of the 1998 Conference on Intelligent Robots and Systems (IROS '98)",
   pages = "1389 - 1398",
   month = "October",
   year = "1998",
   volume = "3",
}

The Robotics Institute

Menu