Attitude estimation for the biped robot with vision and Gyro sensor fusion 비전 센서와 자이로 센서의 융합을 통한 보행 로봇의 자세 추정

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Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor isgreatly improved enough to control the attitude of an inverted pendulum. © ICROS 2011.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2011-06
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.17, no.6, pp.546 - 551

ISSN
1976-5622
DOI
10.5302/J.ICROS.2011.17.6.546
URI
http://hdl.handle.net/10203/102614
Appears in Collection
ME-Journal Papers(저널논문)
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