ROBOT AND METHOD FOR LOCALIZING A ROBOT
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United States of America Patent
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Jul 20, 2017
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Jul 20, 2016
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According to various embodiments, there is provided a robot including: a spherical shell; a cart in the spherical shell, the cart including a plurality of wheels rotatable to move the cart along an inner surface of the spherical shell; a sensor coupled to the cart, the sensor configured to provide an inertial measurement of the cart; a motion encoder configured to measure an angular velocity of each wheel of the plurality of wheels; and a localizer configured to determine a location of the robot, based on the angular velocities of the plurality of wheels and the inertial measurement of the cart.
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