A2I-Calib++: A Kinematics-Driven Anti-noise Active Calibration Framework for Whole-Body Multi-IMU Systems on Legged Robots

Key points

• Recently, multi-node inertial measurement unit (multi-IMU) systems have shown promise for robust odometry in legged robots.1
• Multi-IMU fusion can improve legged robot odometry but requires accurate spatiotemporal calibration among the sensors.1
• Existing multi-IMU calibration methods, designed for aerial or handheld platforms, face challenges on legged robots because routine locomotion may provide insufficient excitation, while foot slips, impacts, and vibrations introduce measurement disturbances.1
• Furthermore, evaluations on both simulation and real-world quadruped platforms demonstrate notably reduced noise sensitivity and simulation calibration errors compared to conventional methods, together with repeatable real-world calibration and improved proprioceptive odometry accuracy for legged robots.1

Sources (1)

• [1]A2I-Calib++: A Kinematics-Driven Anti-noise Active Calibration Framework for Whole-Body Multi-IMU Systems on Legged Robots
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 21, 08:59 AM

  To address these challenges, we propose A2I-Calib++, a kinematics-driven anti-noise active calibration framework for body-mounted IMUs covered by the robot kinematic model.

  Recently, multi-node inertial measurement unit (multi-IMU) systems have shown promise for robust odometry in legged robots.

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