Posture estimation of hose-shaped robot using microphone array localization

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

研究成果: Conference contribution

11 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ3446-3451
ページ数6
DOI
出版物ステータスPublished - 2013
外部発表Yes
イベント2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
継続期間: 2013 11 32013 11 8

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Japan
Tokyo
期間13/11/313/11/8

Fingerprint

Hose
Microphones
Robots
Loudspeakers
Anechoic chambers
Extended Kalman filters
Navigation
Acoustic waves

ASJC Scopus subject areas

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

これを引用

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

Posture estimation of hose-shaped robot using microphone array localization. / Bando, Yoshiaki; Mizumoto, Takeshi; Itoyama, Katsutoshi; Nakadai, Kazuhiro; Okuno, Hiroshi G.

IEEE International Conference on Intelligent Robots and Systems. 2013. p. 3446-3451 6696847.

研究成果: Conference contribution

Bando, Y, Mizumoto, T, Itoyama, K, Nakadai, K & Okuno, HG 2013, Posture estimation of hose-shaped robot using microphone array localization. : IEEE International Conference on Intelligent Robots and Systems., 6696847, pp. 3446-3451, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 13/11/3. https://doi.org/10.1109/IROS.2013.6696847
Bando Y, Mizumoto T, Itoyama K, Nakadai K, Okuno HG. Posture estimation of hose-shaped robot using microphone array localization. : IEEE International Conference on Intelligent Robots and Systems. 2013. p. 3446-3451. 6696847 https://doi.org/10.1109/IROS.2013.6696847
Bando, Yoshiaki ; Mizumoto, Takeshi ; Itoyama, Katsutoshi ; Nakadai, Kazuhiro ; Okuno, Hiroshi G. / Posture estimation of hose-shaped robot using microphone array localization. IEEE International Conference on Intelligent Robots and Systems. 2013. pp. 3446-3451
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