Sensor filtering for balancing of humanoid robots in highly dynamic environments

Jacky Baltes, Chris Iverach-Brereton, John Anderson

研究成果: 書貢獻/報告類型會議論文篇章

5 引文 斯高帕斯(Scopus)

摘要

This paper is part of our on-going research in balancing of humanoid robots in highly dynamic environments. We focus on balancing of a humanoid robot on a Bongo board. One of the problems with balancing in highly dynamic environments such as the Bongo board is the fact that any control algorithm needs to overcome the inherent latency and jitter in the sensors as well as in the actuators of the robot, since it has very little time to react to disturbances. The sensor filter method described in this paper allows the robot Jimmy (a DARwIn-OP robot) to balance for several seconds on a Bongo board. A video of the robot Jimmy balancing on the Bongo board can be found at http://www.youtube.com/watch?v= ia2ZYqqF-lw.

原文英語
主出版物標題2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
頁面170-173
頁數4
DOIs
出版狀態已發佈 - 2013 十二月 1
事件2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, 臺灣
持續時間: 2013 十二月 22013 十二月 4

出版系列

名字2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

其他

其他2013 CACS International Automatic Control Conference, CACS 2013
國家/地區臺灣
城市Nantou
期間2013/12/022013/12/04

ASJC Scopus subject areas

  • 控制與系統工程

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