Collision Detection of 4-legged Robots Using Acceleration Sensors

Collision detection is one of most important techniques in machine control. In RoboCup (robot project) 4-legged league, a collision causes an incorrect localization. Recently collision detection methods using joint data and methods using acceleration sensors were proposed. But they needed a lot of memories or often caused false recognition. We propose three methods to detect collision using frequency analysis data of acceleration sensors in low frequencies. Comparing with recent methods, our proposed methods have advantages in compactness of consuming memories and accuracy of collision detection.This methods can be applied to multimedia signal data other than acceleration sensor data.