Name
Abstract | ||
|---|---|---|
In order to achieve its tasks in an effective manner, an autonomous mobile robot must be able to detect and quickly recover from collisions. This paper proposes a new solution to the problem of detecting collisions during omnidirectional motion of a quadruped robot equipped with an internal accelerometer. We consider this as an instance of general signal processing and statistical anomaly detection problems. We find that temporal accelerometer readings examined in the frequency domain are good indicators of regularities (normal motion) and novel situations (collisions). In the course of time, the robot builds a probabilistic model that captures its proprioceptive properties while walking without obstruction and uses that model to determine whether there is an abnormality in the case of an unfamiliar pattern. The approach does not depend on walk characteristics and the walking algorithm used, and is insensitive to the surface texture that the robot walks on as long as the surface is flat. The experiments demonstrate quite fast and successful detection of collisions independent of the point of contact with an acceptably low false positive rate. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-642-02921-9_13 | RoboCup 2008: Robot Soccer World Cup XII |
Keywords | Field | DocType |
quadruped robots,probabilistic model,robust statistical collision detection,surface texture,normal motion,successful detection,internal accelerometer,temporal accelerometer reading,quadruped robot,omnidirectional motion,autonomous mobile robot,statistical anomaly detection problem,false positive rate,anomaly detection,signal processing,robust statistics,frequency domain,collision detection | Frequency domain,Computer vision,Anomaly detection,Collision detection,Simulation,Computer science,Accelerometer,Legged robot,Artificial intelligence,Statistical model,Robot,Mobile robot | Conference |
Volume | ISSN | Citations |
5399 | 0302-9743 | 2 |
PageRank | References | Authors |
0.45 | 10 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tekin Meriçli | 1 | 45 | 6.06 |
| Çetin Meriçli | 2 | 56 | 8.55 |
| H. Levent Akin | 3 | 146 | 21.98 |