Sensor fusion in a Six-legged Bio-mimicking Robot
نویسندگان
چکیده
This paper presents the construction of a six-legged bio-mimicking robot. The mechanical design includes the actuation design based on shape memory alloy (SMA) actuators and the locomotive mechanism. The motion control system implements various gaits for the robot to maneuver. The sensors used in the control system include the accelerometer, the compass sensor and the step sensors. We develop a sensor fusion formula to fuse the various sensor signals for enhanced position and velocity estimation. The measurement is useful for distributed information network for future robot team operation.
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