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

Volume

2

fYear

2010

fDate

5-6 June 2010

Firstpage

230

Lastpage

235

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing, Control and Industrial Engineering (CCIE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-0-7695-4026-9

Type

conf

DOI

10.1109/CCIE.2010.176

Filename

5491946