Title :
Signal Processing of Robotic Sensitive Skin Based on DSP+FPGA
Author :
Yili, Fu ; Guangguo, Wang ; Shuguo, Wang ; Bao, Jin
Author_Institution :
Robotics Inst., Harbin Inst. of Technol.
Abstract :
Sensitive skin is a new perceptual system for robot. It is mainly used for real-time collision avoidance for robot in unknown environment. The sensor signal will be interfered by the around noises, and it is difficult to meet the requirement of accuracy, real time and stability of the system when using traditional signal processing method. In this paper a novel digital signal processing system based on DSP+FPGA is discussed. The fast Fourier transform (FFT) and periodogram is used for analyzing the signal, and some methods are taken to rectify errors from the limitation of the FFT. The simulation and experiment validate that this method can reduce the effect of noises for system, and can satisfy the real-time collision avoidance for robot
Keywords :
collision avoidance; fast Fourier transforms; field programmable gate arrays; real-time systems; robots; signal processing; DSP; FPGA; fast Fourier transform; perceptual system; periodogram; real-time collision avoidance; robotic sensitive skin; Collision avoidance; Digital signal processing; Fast Fourier transforms; Real time systems; Robot sensing systems; Sensor systems; Signal processing; Skin; Stability; Working environment noise;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Weihai
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305745
