Date of Original Version

2-2010

Type

Technical Report

Rights Management

All Rights Reserved

Abstract or Description

We use a combination of laser data, measurements of joint angles and torques, and stall information to improve localization on a household robotic platform. Our system executes trajectories to collide with its environment and performs probabilistic updates on a distribution of possible robot positions, ordinarily provided by a laser range finder. We find encouraging results both in simulations and in a real-world kitchen environment. Our analysis also suggests further steps in localization through proprioception.

Comments

CMU-RI-TR-10-05

Included in

Robotics Commons

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