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

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

182

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250625

Filename

1250625