Sensor fusion in a SMA-based hexapod bio-mimetic robot

Author

Liu, Shu Hung ; Huang, Tse Shih ; Yen, Jia Yush

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei

fYear

2008

fDate

23-25 Aug. 2008

Firstpage

1

Lastpage

6

Abstract

This paper implement three different algorithms for sensor fusion in a shape memory alloy (SMA) based hexapod bio-mimetic robot; a Kalman filter minimizes the estimation error variance, an H_infin filter minimizes the worst-case estimation error, and a robust mixed Kalman/H_infin filter that takes care of the system uncertainty. The study installed a calibrated inertial measurement unit and an electric compass sensor on the robot for inertial guidance as well as step touch sensors to estimate legged odometry. The performances of the two-dimensional inertial navigation are then compared for evaluation.

Keywords

Kalman filters; biomimetics; image sensors; inertial navigation; mobile robots; robot vision; sensor fusion; shape memory effects; H_infin filter; Kalman filter; SMA-based hexapod biomimetic robot; electric compass sensor; inertial measurement unit; legged odometry; sensor fusion; shape memory alloy; two-dimensional inertial navigation; worst-case estimation error; Estimation error; Kalman filters; Legged locomotion; Measurement units; Performance evaluation; Robot sensing systems; Robustness; Sensor fusion; Shape memory alloys; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Conference_Location

Taipei

Print_ISBN

978-1-4244-2674-4

Electronic_ISBN

978-1-4244-2675-1

Type

conf

DOI

10.1109/ARSO.2008.4653611

Filename

4653611