Sensor Fusion for simple walking robot using low-level implementation of Extended Kalman Filter

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00491010" target="_blank" >RIV/67985556:_____/18:00491010 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.07.252" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2018.07.252</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.07.252" target="_blank" >10.1016/j.ifacol.2018.07.252</a>

Result language
angličtina
Original language name
Sensor Fusion for simple walking robot using low-level implementation of Extended Kalman Filter
Original language description
The main aim of this paper depicts in design and implementation of the ExtendednKalman Filter for a nonlinear system in an application of a sensor fusion from a practical point of view. The sensor fusion is a typical data processing problem in mechanical systems where individual measurements of (angular) positions, velocities or accelerations are done independently on each other but the measured values are correlated to each other via dynamics of the system. Moreover, the measurement is corrupted by noise. The sensor fusion technique is capable to gain proper information about positions, velocities or accelerations from inaccuratenmeasurement. In background of the sensor fusion algorithm, in our particular case, works the Extended Kalman Filter. Its adaptation for a simple mechanical system represented by a nonlinear system are object of the research in this paper related to usage of the Extended Kalman Filter on a low cost hardware.
Czech name
—
Czech description
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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)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018
ISBN
—
ISSN
2405-8963
e-ISSN
—
Number of pages
6
Pages from-to
43-48
Publisher name
Elsevier
Place of publication
Amsterdam
Event location
Guadalajara
Event date
Jun 20, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000443321500008

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