TY - GEN
T1 - Slope angle estimation based on multi-sensor fusion for a snake-like robot
AU - Bing, Zhenshan
AU - Cheng, Long
AU - Knoll, Alois
AU - Zhong, Anyang
AU - Huang, Kai
AU - Zhang, Feihu
N1 - Publisher Copyright:
© 2017 International Society of Information Fusion (ISIF).
PY - 2017/8/11
Y1 - 2017/8/11
N2 - In this paper, we report on a body state and ground profile estimator for a snake-like robot executing a rolling gait to travel from flat ground to a slope. With the help of the estimator, the snake-like robot can adaptively adjust the body shape and locomotion speed by changing the gait parameters for the purpose of tackling a steep slope. Specifically, we propose a repeating sequence of continuous time dynamical models to fuse kinematic encoder data with on-board Inertial Measurement Unit (IMU) measurements based on extended Kalman filter (EKF). All the sensors are mounted inside each module of the snake-like robot, which measure the joint position, the three-axis acceleration, and the three-axis angular velocity. Further, the robot changes its moving pattern under our policy, judging by the estimated angle of the ground profile. We implement this estimation procedure off-line, using data extracted from repeated runs of the snake-like robot by simulation and evaluate its performance compared to the ground truth.
AB - In this paper, we report on a body state and ground profile estimator for a snake-like robot executing a rolling gait to travel from flat ground to a slope. With the help of the estimator, the snake-like robot can adaptively adjust the body shape and locomotion speed by changing the gait parameters for the purpose of tackling a steep slope. Specifically, we propose a repeating sequence of continuous time dynamical models to fuse kinematic encoder data with on-board Inertial Measurement Unit (IMU) measurements based on extended Kalman filter (EKF). All the sensors are mounted inside each module of the snake-like robot, which measure the joint position, the three-axis acceleration, and the three-axis angular velocity. Further, the robot changes its moving pattern under our policy, judging by the estimated angle of the ground profile. We implement this estimation procedure off-line, using data extracted from repeated runs of the snake-like robot by simulation and evaluate its performance compared to the ground truth.
UR - http://www.scopus.com/inward/record.url?scp=85029451830&partnerID=8YFLogxK
U2 - 10.23919/ICIF.2017.8009760
DO - 10.23919/ICIF.2017.8009760
M3 - Conference contribution
AN - SCOPUS:85029451830
T3 - 20th International Conference on Information Fusion, Fusion 2017 - Proceedings
BT - 20th International Conference on Information Fusion, Fusion 2017 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Information Fusion, Fusion 2017
Y2 - 10 July 2017 through 13 July 2017
ER -