MORE | Spring 2025

Adaptive Quadruped with Sensor Fusion for Precise Multi-Sensor Data Collection and Analysis

This research is aimed at collecting multimodal sensor data to enhance robotic mobility and decision-making. Visual data, including RGB (red, green, blue) and camera depth information, will aid in object detection and terrain mapping. Inertial measurement units (IMUs) will provide accelerometer and gyroscope data for motion estimation and stability control. Ultrasonic sensors will measure distances for obstacle avoidance. Fused data from these sources, processed using Kalman filtering, will enable accurate pose estimation, velocity tracking, and gait analysis. Additional force and environmental sensors may improve adaptability, optimizing control for stability and efficiency in dynamic environments.