The goal of this project is to create a lab session for future robotics students to introduce them to the importance of sensor fusion in mobile robotics and how to handle non linearities, with a concrete example : legged robots. Through the use of the GO2 EDU, a quadruped robot from Unitree Robotics.
Project done by GUZZI Rémi & WAELES--DEVAUX Adrien in 1st year of Master in Robotics and Autonomous Systems at Polytech Nice-Sophia
Extension of the project by XUEREF Alexis in 1st year of Engineering School in Robotics at Polytech Nice-Sophia.
Focus of Lab Session 1: enabling the Unitree Go2 robot to return to its starting point without vision, using only leg odometry and IMU data.
Objective: introduce students to nonlinear state estimation through the implementation and analysis of an Unscented Kalman Filter (UKF).