Posture estimation of hose-shaped robot using microphone array localization

Yoshiaki Bando, Takeshi Mizumoto, Katsutoshi Itoyama, Kazuhiro Nakadai, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This paper presents a posture estimation of hose-shaped robot using microphone array localization. The hose-shaped robots, one of major rescue robots, have problems with navigation because their posture is too flexible for a remote operator to control to go as far as desired. For navigational and mission usability, the posture estimation of the hose-shaped robot is essential. We developed a posture estimation method with a microphone array and small loudspeakers equipped on the hose-shaped robot. Our method consists of two steps: (1) playing a known sound from the loudspeaker one-by-one, and (2) estimating the microphone positions on the hose-shaped robot instead of estimating the posture directly. We designed a time difference of arrival (TDOA) estimation method to be robust against directional noise and implemented a prototype system using a posture model of the hose-shaped robot and an Extended Kalman Filter (EKF). The validity of our approach is evaluated by the experiments with both signals recorded in an anechoic chamber and simulated data.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3446-3451
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Bando, Y., Mizumoto, T., Itoyama, K., Nakadai, K., & Okuno, H. G. (2013). Posture estimation of hose-shaped robot using microphone array localization. In IEEE International Conference on Intelligent Robots and Systems (pp. 3446-3451). [6696847] https://doi.org/10.1109/IROS.2013.6696847