ICRA 2012 Paper Abstract

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Paper TuB04.3

Masuya, Ken (Kyushu University), Sugihara, Tomomichi (Graduate School of Engineering, Osaka University), Yamamoto, Motoji (Kyushu University)

Design of Complementary Filter for High-Fidelity Attitude Estimation Based on Sensor Dynamics Compensation with Decoupled Properties

Scheduled for presentation during the Regular Session "Pose Estimation" (TuB04), Tuesday, May 15, 2012, 11:00−11:15, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Sensor Fusion, Humanoid Robots

Abstract

A high-fidelity attitude estimation technique for wide and irregular movements is proposed, in which heterogeneous inertial sensors are combined in complementary way. Although the working frequency ranges of each sensor are not necessarily complementary, inverse sensor models are utilized in order to restore the original movements. In the case of 3D rotation, the sensor dynamics displays a highly nonlinear property. Even if it is approximated by a linear system, the inverse model of a sensor tends to be non-proper and unstable. An idea is to decouple it into the dynamics compensation part approximated by a linear transfer function and the strictly nonlinear coordinate transformation part. Bandpass filters inserted before the coordinate transformation guarantee that the total transfer function becomes proper and stable. Particularly, the differential operator of a high-pass filter cancels the integral operator included in the dynamics compensation of the rate gyroscope, which causes instability. The proposed method is more beneficial than Kalman filter in terms of the implementation since it facilitates a systematic design of the filter.

 

 

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