モジュラーロボット向け低コストで高カスタマイズ可能な位置推定ソリューション
A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
低コストでカスタマイズ性の高いPaintPot位置センサをモジュラーロボットSMORES-EPに適用し、製造・特性評価・推定を含むカルマンフィルタベースの完全な位置推定手法を提案した。
著者: Chao Liu, Tarik Tosun, Mark Yim
分類: cs.RO
原文アブストラクト
Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are low-cost, reliable, and highly customizable position sensors, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman filter with a simplified observation model developed to deal with the non-linearity issues that result in the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.
