Title :
Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet
Author :
Chassagne, Luc ; Bruneau, Olivier ; Bialek, Adrien ; Falguiere, Clement ; Broussard, Elliot ; Barrois, Olivier
Author_Institution :
Lab. d´Ing. des Syst. de Versailles, Univ. of Versailles St.-Quentin, Versailles, France
Abstract :
A simple measurement system with a set of six ultrasonic piezoelectric transducers is presented for direct 3D positioning of humanoid robot limbs. A configuration with three emitters and three receivers leads to millimetric estimation of the distances. Millimetric resolution achievement over 70 cm range is aimed with high angular tolerance in order to mount the sensor on a humanoid robot. Sampling frequency up to 60 Hz is obtained. The sensor is then used to estimate relative positions and orientations in the space of each foot of the robot with regard to the pelvis. The principle and experimental performances of the sensor are presented in the first part with uncertainty estimations and discussions. In the second phase, the sensor has been setup on the ROBIAN humanoid robot to illustrate an application case and test the performances.
Keywords :
distance measurement; humanoid robots; legged locomotion; piezoelectric transducers; position control; ultrasonic transducers; ROBIAN humanoid robot feet; ROBIAN humanoid robot limbs; accurate 3D relative positioning; emitters; high angular tolerance; measurement system; millimetric distance estimation; receivers; relative orientation estimation; relative position estimation; sampling frequency; ultrasonic piezoelectric transducers; ultrasonic sensor triangulation; uncertainty estimations; Acoustics; Foot; Receivers; Robot sensing systems; Ultrasonic variables measurement; 3D positioning; Ultrasonic sensor; sensor for humanoid robots; ultrasonic sensor;
Journal_Title :
Sensors Journal, IEEE
DOI :
10.1109/JSEN.2014.2382435
