Title :
Adaptive audio servo for multirate robot systems
Author :
Kumon, Makoto ; Sugawara, Takahiro ; Miike, Katuhiro ; Mizumoto, Ikuro ; Iwai, Zenta
Author_Institution :
Dept. of Mech. Eng. & Mater. Sci., Kumamoto Univ., Japan
Abstract :
In this paper, audio servo robot system which was a servo system using audio information as feedback signal was considered. Since the sampling rate of audio signal and that of robot controller are usually different, the system is able to be treated as a multi-rate system. Since it is general that the sampling rate of the output is faster than that of the input, the controller obtains more information than a single-rate servo system. By using this property, an adaptive audio servo system was proposed. Results of a computer simulation and an experiment showed effectiveness of the method.
Keywords :
adaptive systems; audio signal processing; feedback; multi-robot systems; sampling methods; servomechanisms; adaptive audio servorobot system; audio signal; computer simulation; feedback signal; multirate robot systems; robot controller; sensor-motion coordination; Animals; Auditory system; Control systems; Data mining; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Sampling methods; Servomechanisms;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250625
