Title :
Sensor fusion for skill transfer systems
Author :
Cortesão, Rui ; Koeppe, Ralf
Author_Institution :
Dept. de Engenharia Electrotecnica, Coimbra Univ., Portugal
Abstract :
Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a “model-free” equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the Institute of Robotics and System Dynamics at the DLR
Keywords :
Gaussian noise; Kalman filters; filtering theory; man-machine systems; neural nets; sensor fusion; data fusion module; model-free equation; optimal fusion; skill transfer systems; Aerodynamics; Equations; Filtering; Humans; Intelligent robots; Robot sensing systems; Sensor fusion; Sensor systems; Training data; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812813