TY - GEN
T1 - Sensor filtering for balancing of humanoid robots in highly dynamic environments
AU - Baltes, Jacky
AU - Iverach-Brereton, Chris
AU - Anderson, John
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84897677539&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84897677539&partnerID=8YFLogxK
U2 - 10.1109/CACS.2013.6734127
DO - 10.1109/CACS.2013.6734127
M3 - Conference contribution
AN - SCOPUS:84897677539
SN - 9781479923847
T3 - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
SP - 170
EP - 173
BT - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
T2 - 2013 CACS International Automatic Control Conference, CACS 2013
Y2 - 2 December 2013 through 4 December 2013
ER -