Journal article
Sensor Information Analysis for a Humanoid Robot
International journal of control, automation, and systems, v 13(1), pp 175-181
01 Feb 2015
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
For a humanoid robot to safely walk in unknown environments, various sensors are used to identify the surface condition and recognize any obstacles. The humanoid robot is not fixed on the surface and the base/orientation of the kinematics change while it is walking. Therefore, if the foot contact changes from the estimated due to the unknown surface condition, the kinematics results are not correct. The robot may not be able to perform the motion commands based on the incorrect surface condition. Some robots have built-in range sensors but it's difficult to accurately model the surface from the sensor readings because the movement of the robot should be considered and the robot localization should have zero error for correct interpretation of the sensor readings. In this paper, three infrared range sensors are used in order to perceive the floor state. Covariance analysis is incorporated to consider the uncertainties. The accelerometer and gyro sensor are also used in order to detect the moment a foot hits the surface. This information provides correction to the motion planner and robot kinematics when the environment is not modeled correctly.
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Details
- Title
- Sensor Information Analysis for a Humanoid Robot
- Creators
- Sooyong Lee - Hongik UniversityPaul Y. Oh - Drexel UniversitySangil Lee - Psychology
- Publication Details
- International journal of control, automation, and systems, v 13(1), pp 175-181
- Publisher
- Inst Control Robotics & Systems, Korean Inst Electrical Engineers
- Number of pages
- 7
- Grant note
- NRF-2010-013-D00005 / National Research Foundation of Korea Grant - Korean Government MEST, Basic Research Promotion Fund
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Psychological and Brain Sciences (Psychology)
- Web of Science ID
- WOS:000348903500020
- Scopus ID
- 2-s2.0-84925521387
- Other Identifier
- 991019173417004721
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Automation & Control Systems