Title :
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
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 Hinfin filter minimizes the worst-case estimation error, and a robust mixed Kalman/Hinfin 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; Hinfin 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;
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
DOI :
10.1109/ARSO.2008.4653611
