Realistic tri-axial-accelerometer behavior for Inertial Measurement Unit

Official Python bindings with a focus on reinforcement learning and robotics.
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richardbloemenkamp
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Joined: Tue Sep 18, 2018 7:50 pm

Realistic tri-axial-accelerometer behavior for Inertial Measurement Unit

Post by richardbloemenkamp » Sun Nov 11, 2018 3:04 pm

Many legged robots have Inertial Measurement Units (IMU's) on them to determine whether they are falling over or other. Usually these IMU's have accelerometers in them to determine the direction of gravity. This gravity direction is then be used to work out the robot tilt angle. For Pybullet models one can directly get the tilt angle of any link of the robot, but this is less realistic.
A real tri-axial accelerometer is sensitive to both accelerations and gravity. Therefore it seems useful to have a function that can give a realistic response for a model IMU attached to a robot link.
I'm trying to make such a function myself, but I can imagine more robot-simulators would like to have it and it may be a nice extension for Pybullet.
Maybe someone else has already made this?

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