Title :
A Vestibular System Model for Robots and Its Application in Environment Perception
Author :
Chen, Yifei ; Liu, Chengju ; Chen, Qijun
Author_Institution :
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
Abstract :
This paper builds a vestibular system model for AIBO ERS-7 robot based upon its 3-axis accelerometer. The model consists of three parts, posture calculation method, low-pass filter deriving smoothed acceleration signals, Oscillation Power (O.P.), a pattern for differentiation of surfaces, and its extraction mechanism. It fulfills three environment perception tasks correspondingly, slope detection, live pose estimation and surface recognition, by actual experiments on AIBO.
Keywords :
accelerometers; mobile robots; motion control; pose estimation; 3-axis accelerometer; AIBO ERS-7 robot; environment perception; live pose estimation; low-pass filter; oscillation power; posture calculation method; slope detection; surface recognition; vestibular system model; Acceleration; Accelerometers; Digital filters; Hardware; Legged locomotion; Mobile robots; Power system modeling; Robot sensing systems; Service robots; Signal analysis; Oscillation Power; accelorometer; digital filter; environment perception; vestibular system;
Conference_Titel :
Computing, Control and Industrial Engineering (CCIE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-0-7695-4026-9
DOI :
10.1109/CCIE.2010.176
