IMU integration for ATRIAS

approved: Jonathan Hurst An Inertial Measurement Unit (IMU) is an important part of a freestanding bipedal robot’s state estimation system. IMUs return translational accelerations and rota­ tional velocities, which must be numerically integrated to obtain a robot’s orientation. This thesis documents the implementation of the IMU alignment and integration sys­ tems for the ATRIAS robot. As a result of this work, ATRIAS has responsive and reliable orientation estimation, which allowed it to achieve freestanding walking.