Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)最新文献
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976346
H. Kawabe, E. Inohira, T. Kubota, M. Uchiyama
In a new stage of space development, collision and contact tasks under micro-gravity, such as docking, orbital servicing, and touchdown to a minor body, are now increasingly being considered. A hybrid motion simulation consisting of both physical and numerical models is an effective method to test the motions of a spacecraft under zero G on the ground. The authors have developed a hybrid zero G motion simulator based on a highspeed parallel link mechanism. A wide response bandwidth and high stiffness of the simulator have made it possible to simulate the contact motions with high precision. In this paper, they evaluate analytically the simulator characteristics and verify experimentally the impact of dynamics on the hybrid motion simulation by comparing it with a collision experiment under zero G in a drop-shaft facility. The results imply that the simulator is highly reliable for the impact dynamics simulation under zero G.
{"title":"Analytical and experimental evaluation of impact dynamics on a high-speed zero G motion simulator","authors":"H. Kawabe, E. Inohira, T. Kubota, M. Uchiyama","doi":"10.1109/IROS.2001.976346","DOIUrl":"https://doi.org/10.1109/IROS.2001.976346","url":null,"abstract":"In a new stage of space development, collision and contact tasks under micro-gravity, such as docking, orbital servicing, and touchdown to a minor body, are now increasingly being considered. A hybrid motion simulation consisting of both physical and numerical models is an effective method to test the motions of a spacecraft under zero G on the ground. The authors have developed a hybrid zero G motion simulator based on a highspeed parallel link mechanism. A wide response bandwidth and high stiffness of the simulator have made it possible to simulate the contact motions with high precision. In this paper, they evaluate analytically the simulator characteristics and verify experimentally the impact of dynamics on the hybrid motion simulation by comparing it with a collision experiment under zero G in a drop-shaft facility. The results imply that the simulator is highly reliable for the impact dynamics simulation under zero G.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115788703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.973404
Sungchul Kang, K. Komoriya, K. Yokoi, T. Kotoku, K. Tanie
Deals with the reduced inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation. The experimental results show that the reduced inertial effect of the mobile manipulator alleviates the impact force at collision.
{"title":"Reduced inertial effect in damping-based posture control of mobile manipulator","authors":"Sungchul Kang, K. Komoriya, K. Yokoi, T. Kotoku, K. Tanie","doi":"10.1109/IROS.2001.973404","DOIUrl":"https://doi.org/10.1109/IROS.2001.973404","url":null,"abstract":"Deals with the reduced inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation. The experimental results show that the reduced inertial effect of the mobile manipulator alleviates the impact force at collision.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115881727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.973366
Y. Ota, K. Yoneda, Yusuke Muramatsu, S. Hirose
In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.
{"title":"Development of walking and task performing robot with bipedal configuration","authors":"Y. Ota, K. Yoneda, Yusuke Muramatsu, S. Hirose","doi":"10.1109/IROS.2001.973366","DOIUrl":"https://doi.org/10.1109/IROS.2001.973366","url":null,"abstract":"In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115394545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.973358
J. Luntz, H. Moon
Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. Current forms of distributed manipulation include multiple mobile robots, vibrating plates, actively controlled arrays of air jets, and planar micro and macro-mechanical arrays of actuators. The paper presents a form of distributed manipulation using passive air flow fields, which has been experimentally demonstrated. Rather than directly actuating the flow at each point, potential flow assumptions allow a small number of simple point-generated fields to combine to form complex manipulation fields. The paper presents a methodology for efficiently computing equilibria of objects manipulated by arbitrary combinations of radially symmetric fields (such as potential flow fields).
{"title":"Distributed manipulation with passive air flow","authors":"J. Luntz, H. Moon","doi":"10.1109/IROS.2001.973358","DOIUrl":"https://doi.org/10.1109/IROS.2001.973358","url":null,"abstract":"Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. Current forms of distributed manipulation include multiple mobile robots, vibrating plates, actively controlled arrays of air jets, and planar micro and macro-mechanical arrays of actuators. The paper presents a form of distributed manipulation using passive air flow fields, which has been experimentally demonstrated. Rather than directly actuating the flow at each point, potential flow assumptions allow a small number of simple point-generated fields to combine to form complex manipulation fields. The paper presents a methodology for efficiently computing equilibria of objects manipulated by arbitrary combinations of radially symmetric fields (such as potential flow fields).","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123377540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.977167
X. Xiong, Y. Hanein, Weihua Wang, D. Schwartz, K. Böhringer
Advances in silicon processing and microelectro-mechanical systems (MEMS) have made possible the production of very large numbers of very small components at very low cost in massively parallel batches. Assembly, in contrast, remains a mostly serial (i.e., non-batch) technique. We argue that massively parallel self-assembly of microparts will be a crucial enabling technology for future complex microsystems. As a specific approach, we present a technique for assembly of multiple batches of microparts based on capillary forces and controlled modulation of surface hydrophobicity. We derive a simplified model that gives rise to geometric algorithms for predicting assembly forces and for guiding the design optimization of self-assembling microparts. Promising initial results from theory and experiments and challenging open problems are presented to lay a foundation for general models and algorithms for self-assembly.
{"title":"Multi-batch micro-self-assembly via controlled capillary forces","authors":"X. Xiong, Y. Hanein, Weihua Wang, D. Schwartz, K. Böhringer","doi":"10.1109/IROS.2001.977167","DOIUrl":"https://doi.org/10.1109/IROS.2001.977167","url":null,"abstract":"Advances in silicon processing and microelectro-mechanical systems (MEMS) have made possible the production of very large numbers of very small components at very low cost in massively parallel batches. Assembly, in contrast, remains a mostly serial (i.e., non-batch) technique. We argue that massively parallel self-assembly of microparts will be a crucial enabling technology for future complex microsystems. As a specific approach, we present a technique for assembly of multiple batches of microparts based on capillary forces and controlled modulation of surface hydrophobicity. We derive a simplified model that gives rise to geometric algorithms for predicting assembly forces and for guiding the design optimization of self-assembling microparts. Promising initial results from theory and experiments and challenging open problems are presented to lay a foundation for general models and algorithms for self-assembly.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121394980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976329
H. Miwa, A. Takanishi, H. Takanobu
The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We introduced a robot personality that consists of the sensing personality and the expression personality. The sensing personality determines how a stimulus works for a robot's mental state. A 3D mental space was defined in the robot. Seven emotions were mapped out in the 3D mental space. After the robot determines its emotion, it expresses its emotion by the expression personality. We expressed the expression personality using a matrix. Moreover, we assigned and loaded six robot personalities into the robot. The robot can express various personalities.
{"title":"Experimental study on robot personality for humanoid head robot","authors":"H. Miwa, A. Takanishi, H. Takanobu","doi":"10.1109/IROS.2001.976329","DOIUrl":"https://doi.org/10.1109/IROS.2001.976329","url":null,"abstract":"The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We introduced a robot personality that consists of the sensing personality and the expression personality. The sensing personality determines how a stimulus works for a robot's mental state. A 3D mental space was defined in the robot. Seven emotions were mapped out in the 3D mental space. After the robot determines its emotion, it expresses its emotion by the expression personality. We expressed the expression personality using a matrix. Moreover, we assigned and loaded six robot personalities into the robot. The robot can express various personalities.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114974485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976337
R. Bachmayer, L. Whitcomb
The finite-dimensional nonlinear thruster models (Bachmayer et al. (2000)) employing empirically determined lift/drag curves have been shown to accurately model both the transient and steady state response of marine thrusters. This paper first reports on the development of an asymptotically stable open-loop thrust tracking controller that exploits this new nonlinear thruster model. To the best of our knowledge, this is the first stable model based thrust control law reported for this class of marine thrusters.
有限维非线性推进器模型(Bachmayer et al.(2000))采用经验确定的升力/阻力曲线，已被证明可以准确地模拟船用推进器的瞬态和稳态响应。本文首次报道了利用这种新的非线性推力器模型开发的渐近稳定开环推力跟踪控制器。据我们所知，这是第一个基于稳定模型的推力控制律报道的这类船用推进器。
{"title":"An open loop nonlinear model based thrust controller for marine thrusters","authors":"R. Bachmayer, L. Whitcomb","doi":"10.1109/IROS.2001.976337","DOIUrl":"https://doi.org/10.1109/IROS.2001.976337","url":null,"abstract":"The finite-dimensional nonlinear thruster models (Bachmayer et al. (2000)) employing empirically determined lift/drag curves have been shown to accurately model both the transient and steady state response of marine thrusters. This paper first reports on the development of an asymptotically stable open-loop thrust tracking controller that exploits this new nonlinear thruster model. To the best of our knowledge, this is the first stable model based thrust control law reported for this class of marine thrusters.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126384673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976393
Sung-Gaun Kim, J. Ryu
Development of optimal design methods for general 6 degree-of-freedom parallel manipulators is important in obtaining an optimal architecture or pose for the best kinematic performance. Use of a performance index such as the condition number of the Jacobian matrix that is composed of nonhomogeneous physical units may lack physical significance. In order to avoid unit mismatch in the Jacobian matrix, the paper presents a new Jacobian formulation by use of three point generalized coordinates, which results in a (9/spl times/9) dimensionally homogeneous Jacobian matrix. The condition number of the new Jacobian matrix is used to design an optimal architecture or pose of parallel manipulators for best dexterity. A design example with a Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configuration as from using the other Jacobian formulation methods.
{"title":"Optimal design of 6 DOF parallel manipulators using three point coordinates","authors":"Sung-Gaun Kim, J. Ryu","doi":"10.1109/IROS.2001.976393","DOIUrl":"https://doi.org/10.1109/IROS.2001.976393","url":null,"abstract":"Development of optimal design methods for general 6 degree-of-freedom parallel manipulators is important in obtaining an optimal architecture or pose for the best kinematic performance. Use of a performance index such as the condition number of the Jacobian matrix that is composed of nonhomogeneous physical units may lack physical significance. In order to avoid unit mismatch in the Jacobian matrix, the paper presents a new Jacobian formulation by use of three point generalized coordinates, which results in a (9/spl times/9) dimensionally homogeneous Jacobian matrix. The condition number of the new Jacobian matrix is used to design an optimal architecture or pose of parallel manipulators for best dexterity. A design example with a Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configuration as from using the other Jacobian formulation methods.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129693555","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976421
Taketoshi Mori, K. Asaki, H. Noguchi, Tomomasa Sato
Since human behavior patterns vary from person to person, computers have to understand someone's personal behavior in order to supply him with a robotic support system for his daily life. It is necessary to know his behavior over the long term. The ideal intelligent support system can measure the data about human actions in the daily life, accumulate them, understand the behavior and the patterns thereof, and adapt thereto. An accumulation and summarization system of human daily action data based on sensing in 1 room, "Robotic Room II", is designed and the accumulation system integrating with the measurement parts is implemented. It is confirmed that accumulation over the long term is possible by experiments for accumulation of human action data in ordinary life. Moreover, as the first step of an analysis of the accumulated data, a summarization algorithm based on the changes of the room states is proposed. It is confirmed that the summarized data enables us to catch the most of the changes of the room states. Finally, a possibility of application for life monitoring by means of summarization is also illustrated.
{"title":"Accumulation and summarization of human daily action data in one-room-type sensing system","authors":"Taketoshi Mori, K. Asaki, H. Noguchi, Tomomasa Sato","doi":"10.1109/IROS.2001.976421","DOIUrl":"https://doi.org/10.1109/IROS.2001.976421","url":null,"abstract":"Since human behavior patterns vary from person to person, computers have to understand someone's personal behavior in order to supply him with a robotic support system for his daily life. It is necessary to know his behavior over the long term. The ideal intelligent support system can measure the data about human actions in the daily life, accumulate them, understand the behavior and the patterns thereof, and adapt thereto. An accumulation and summarization system of human daily action data based on sensing in 1 room, \"Robotic Room II\", is designed and the accumulation system integrating with the measurement parts is implemented. It is confirmed that accumulation over the long term is possible by experiments for accumulation of human action data in ordinary life. Moreover, as the first step of an analysis of the accumulated data, a summarization algorithm based on the changes of the room states is proposed. It is confirmed that the summarized data enables us to catch the most of the changes of the room states. Finally, a possibility of application for life monitoring by means of summarization is also illustrated.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131100637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976367
J. L. Marins, X. Yun, E. Bachmann, R. McGhee, M. Zyda
Presents an extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (magnetic, angular rate, and gravity) sensors. Each MARG sensor contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with attitude estimation. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are integrated to obtain quaternions. The Gauss-Newton iteration algorithm is utilized to find the best quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The best quaternion is used as part of the measurements for the Kalman filter. As a result of this approach, the measurement equations of the Kalman filter become linear, and the computational requirements are significantly reduced, making it possible to estimate orientation in real time. Extensive testing of the filter with synthetic data and actual sensor data proved it to be satisfactory. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track rotational motions.
{"title":"An extended Kalman filter for quaternion-based orientation estimation using MARG sensors","authors":"J. L. Marins, X. Yun, E. Bachmann, R. McGhee, M. Zyda","doi":"10.1109/IROS.2001.976367","DOIUrl":"https://doi.org/10.1109/IROS.2001.976367","url":null,"abstract":"Presents an extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (magnetic, angular rate, and gravity) sensors. Each MARG sensor contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with attitude estimation. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are integrated to obtain quaternions. The Gauss-Newton iteration algorithm is utilized to find the best quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The best quaternion is used as part of the measurements for the Kalman filter. As a result of this approach, the measurement equations of the Kalman filter become linear, and the computational requirements are significantly reduced, making it possible to estimate orientation in real time. Extensive testing of the filter with synthetic data and actual sensor data proved it to be satisfactory. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track rotational motions.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130063287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
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