Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2008.14.2.133

Development of 3-Dimensional Pose Estimation Algorithm using Inertial Sensors for Humanoid Robot  

Lee, Ah-Lam (서울산업대학교 기계설계자동화공학부 정밀기계기술연구소)
Kim, Jung-Han (서울산업대학교 기계설계자동화공학부 정밀기계기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.2, 2008 , pp. 133-140 More about this Journal
Abstract
In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.
Keywords
humanoid robot; inertial measurement; accelerometer; gyroscope; extended Kalman filter; attitude estimation; acceleration estimation switching algorithm;
Citations & Related Records

Times Cited By SCOPUS : 1
연도 인용수 순위
  • Reference
1 S. P. N. Singh and K. J. Waldron, "Attitude estimation for dynamic legged locomotion using range and inertial sensors," in Proceedings of the ICRA, Spain, pp. 1663-1668, 2005
2 B. Barshan and H. F. Durrant-Whyte, "Inertial navigation systems for mobile robots," IEEE transactions on Robotics and Automation vol. 11, no. 3, pp. 328-342, 1995   DOI   ScienceOn
3 Kionix, "Tilt-sensing with kionix MEMS accelerometers," Kionix, U.S, Application Note, no. 5, 2005
4 박찬국, 이장규, 박흥원, "관성항법장치기술," 제어.자동화.시스템공학회지, 제 3 권, 제 2 호, pp. 52-57
5 Y. S. Suh, "Attitude estimation using low cost accelerometer and gyroscope," in Proceeding of the 7th Korea-Russia International Symposium, pp. 423-427, 2003
6 J. Vaganay and M. J. Aldon and A. Fournier, "Mobile robot attitude estimation by fusion of inertial data," In Proceeding IEEE International Conference on Robotics and Automation, vol. 1, pp. 277-282, 1993
7 박상경, "관성센서를 이용한 3차원 자세 추정," 울산대 학교 대학원 석사 학위 논문, 2004
8 H. Rehbinder and X. Hu, "Drift-free attitude estimation for accelerated rigid bodies," in Proceeding of the 2001 IEEE International Conference on Robotics & Automation, pp. 4244-4249, May 2001
9 H. Rehbinder and X. Hu, "Nonlinear pitch and roll estimation for walking robots," in Proceeding of the 2000 IEEE International Conference on Robotics & Automation, pp. 2617-2622, April, 2000
10 R. Brown and P. Hwang, Introduction to Random Signal and Applied Kalman Filtering, 2nd Ed., Wiley, New York, 1992
11 김종철외, 관성항법 및 위성항법시스템 기술연구개발, 항공우주연구소, 한국, 보고서, 2000