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Design of Isotropic Accelerometer Strapdowns for Rigid-Body Pose-and-Twist Estimation

[+] Author Affiliations
Ting Zou, Jorge Angeles

McGill University, Montreal, QC, Canada

Paper No. DETC2013-12496, pp. V06AT07A027; 9 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6A: 37th Mechanisms and Robotics Conference
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5593-5
  • Copyright © 2013 by ASME


Coupling of tangential and centripetal acceleration components occurs in the estimation of rigid-body pose and twist with current accelerometer strapdowns. To address this shortcoming and its pernicious effects, a novel design of biaxial accelerometer strapdown is proposed. By virtue of its inherent isotropy, point tangential acceleration is decoupled from its centripetal counterpart, thereby realizing a straightforward and accurate acceleration estimation. The algorithm associated with the strapdown is validated by means of a numerical example, which shows the precision of the strapdown in estimating rigid-body pose and twist.

Copyright © 2013 by ASME



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