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 language | English |
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| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 3446-3451 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
| Event | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 2013 Nov 3 → 2013 Nov 8 |
Other
| Other | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 |
|---|---|
| Country/Territory | Japan |
| City | Tokyo |
| Period | 13/11/3 → 13/11/8 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications