On the sensor fusion in the walking robots design
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F17%3A00483503" target="_blank" >RIV/67985556:_____/17:00483503 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ASCC.2017.8287574" target="_blank" >http://dx.doi.org/10.1109/ASCC.2017.8287574</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ASCC.2017.8287574" target="_blank" >10.1109/ASCC.2017.8287574</a>
Alternative languages
Result language
angličtina
Original language name
On the sensor fusion in the walking robots design
Original language description
The aim of this paper is to provide a sensor fusion for a real laboratory model of the underactuated two degrees of freedom walking robot. More precisely, the laboratory model consists from two pairs of legs with the actuated knees connected in the actuated hip. The angle between the stance leg and the walking surface is both unactuated and insusceptible to direct measurement by precise encoders. In such a way, the convenient fusion of different sensors plays cornerstone role in underactuated walking robots control design. The each link of the leg is equipped with sensors for DC motor input current and its angular position and velocity measurement. The data from sensors are fused together via Extended Kalman Filter in order to eliminate measurement noise and increase accuracy of the measurement. The fused measured data can be used as input data for the tracking or estimating algorithms for the robot walking control or for leg link movement control via a DC motor.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 11th Asian Control Converence (ASCC) 2017
ISBN
978-1-5090-1572-6
ISSN
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e-ISSN
—
Number of pages
6
Pages from-to
2534-2539
Publisher name
IEEE
Place of publication
Piscataway
Event location
Gold Coast
Event date
Dec 17, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426957300442