On the sensor fusion in the walking robots design

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

On the sensor fusion in the walking robots design

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

On the sensor fusion in the walking robots design

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 11th Asian Control Converence (ASCC) 2017

ISBN

978-1-5090-1572-6

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

2534-2539

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Gold Coast

Datum konání akce

17. 12. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000426957300442