Technical Implementations of the Sense of Balance

  • Michael BloeschEmail author
  • Marco Hutter
Reference work entry


Control algorithms for legged robots rely on accurate and fail-safe ego-motion estimation in order to keep balance and perform desired tasks. To this end, the robot must integrate the measurements from different sensor modalities into a single consistent state estimation. In particular, the estimation process must provide estimates of the gravity direction and the local velocities of the robot since those quantities are essential for stabilizing the system and to counteract external disturbances. In comparison to other types of robots, legged robots interact through intermittent contacts with the surrounding. This provides the system with an additional source of information which can be leveraged in order to improve the state estimation. Since there is no one-size-fits-all solution, the following chapter will provide an insight into the different concepts and algorithms by discussing state-of-the-art approaches and examples. This should enable the reader to design a tailored state estimation solution to his or her specific robot and environment.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Autonomous Systems LabETH ZurichZurichSwitzerland
  2. 2.Robotic Systems LabETH ZurichZurichSwitzerland

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