On the sensor fusion in the walking robots design

0483503 - ÚTIA 2018 RIV US eng C - Konferenční příspěvek (zahraniční konf.)
Anderle, Milan - Čelikovský, Sergej
On the sensor fusion in the walking robots design.
Proceedings of the 11th Asian Control Converence (ASCC) 2017. Piscataway: IEEE, 2017, s. 2534-2539, č. článku 0529. ISBN 978-1-5090-1572-6.
[The 11th Asian Control Conference (ASCC) 2017. Gold Coast (AU), 17.12.2017-20.12.2017]
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Sensor fusion * Extended Kalman Filter * Underactuated walking robots
Obor OECD: Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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.
Trvalý link: http://hdl.handle.net/11104/0278782