Westergaard Lehman posted an update 2 months, 3 weeks ago
The Q-learning hurdle avoidance algorithm based on EKF-SLAM for NAO autonomous wandering below not known conditions
The two essential problems of SLAM and Path preparing are frequently tackled independently. Both are essential to achieve successfully autonomous navigation, however. In this paper, we try to integrate both features for software on a humanoid robot. The SLAM problem is fixed together with the EKF-SLAM algorithm whilst the path organizing problem is handled via -learning. The recommended algorithm is integrated on a NAO provided with a laserlight go. So that you can separate different points of interest at one particular observation, we used clustering algorithm on laser beam indicator data. A Fractional Purchase PI control (FOPI) is additionally designed to lessen the movement deviation built into throughout NAO’s strolling conduct. The algorithm is analyzed inside an indoors environment to evaluate its performance. We suggest that this new design and style could be easily utilized for autonomous walking in a not known setting.
Powerful estimation of wandering robots tilt and velocity utilizing proprioceptive detectors details fusion
A technique of velocity and tilt estimation in portable, probably legged robots depending on on-board devices.
Robustness to inertial sensing unit biases, and findings of inferior or temporal unavailability.
A basic structure for modeling of legged robot kinematics with ft . style considered.
Accessibility of the immediate speed of any legged robot is generally necessary for its efficient control. However, estimation of velocity only on the basis of robot kinematics has a significant drawback: the robot is not in touch with the ground all the time. Alternatively, its feet may twist. In this paper we expose a method for velocity and tilt estimation in the jogging robot. This process brings together a kinematic model of the supporting lower-leg and readouts from an inertial sensor. It can be used in virtually any ground, no matter the robot’s entire body design and style or the control strategy used, which is robust in regards to foot angle. It is also safe from restricted ft . glide and temporary deficiency of foot contact.
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