Tampere University of Technology

TUTCRIS Research Portal

Angle Estimation for Robotic Arms on Floating Base Using Low-Cost IMUS

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages8
ISBN (Electronic)978-1-5386-3081-5
ISBN (Print)978-1-5386-3082-2
Publication statusPublished - May 2018
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Robotics and Automation -
Duration: 1 Jan 19001 Jan 2000

Publication series

ISSN (Electronic)2577-087X


ConferenceIEEE International Conference on Robotics and Automation


An algorithm that uses low-cost inertial measurement units (IMUs) for estimating link angles for floating base robotic platforms is proposed. Each link has four IMUs attached on its surfaces, and an Extended Kalman Filter (EKF) and a Complementary Filter (CF) are used for fusing the sensors' data. The algorithm is validated with a commercial mobile working machine, which consist of six degrees-of-freedom (DOF) wheeled base platform, and a 3-DOF hydraulic anthropomorphic arm. Although there are vibrational disturbances from the machine's diesel engine and deformation of the links themselves, the measured results from the planar motion of a floating base hydraulic arm show that the accuracy of the angle estimation is impressively less than 1 degree in the root mean square (RMS) error.


  • hydraulic systems, inertial navigation, Kalman filters, mobile robots, nonlinear filters, sensor fusion, wheels, commercial mobile working machine, extended Kalman filter, complementary filter, sensors data fusion, low-cost IMUs, six degrees-of-freedom wheeled base platform, 3-DOF hydraulic anthropomorphic arm, floating base hydraulic arm, vibrational disturbances, machines diesel engine, deformation, EKF, CF, root mean square error, RMS error, floating base robotic platforms, link angles, low-cost inertial measurement units, robotic arms, angle estimation, Accelerometers, Estimation, Force, Manipulators, Hydraulic systems, Gyroscopes

Publication forum classification

Field of science, Statistics Finland

Downloads statistics

No data available