Name
Title | ||
|---|---|---|
Extracting the Frequency of Robotic Tasks with an Adaptive Fourier Series: Application to Yo-Yo |
Abstract | ||
|---|---|---|
On-line determination of the basic frequency of an unknown periodic signal with an arbitrary waveform is crucial in imitating
and performing rhythmic tasks with robots. We present a novel method to determine the basic frequency of a periodic signal
on-line. The method is based on adaptive frequency oscillators in a feedback loop. While so far several adaptive frequency
oscillators in a loop had to be used and the basic frequency determined using logical algorithms that choose from the determined
frequency components, our method extracts the basic frequency of the input signal without any additional logical operations.
The proposed novel method uses a single oscillator combined with a whole Fourier series representation in a feedback loop.
Such formulation allows extracting the frequency and the phase of an unknown periodic signal in real-time and without any
additional signal processing or preprocessing. The method also determines the Fourier series coefficients and can be used
for dynamic Fourier series implementation. The method can be used for the control of rhythmic robotic tasks, where successful
performing of a task crucially depends on the extraction of the fundamental frequency. We demonstrate the properties and usefulness
of the method in simulation and on a highly nonlinear and dynamic task of playing the robotic yo-yo.
|
Year | DOI | Keywords |
|---|---|---|
2010 | 10.1007/978-3-642-19539-6_12 | nonlinear dynamical systems,yo-yo.,adaptive frequency oscillators,imitation,fourier series,feedback loop,fundamental frequency,signal processing,oscillations |
Field | DocType | Volume |
Frequency domain,Signal processing,Multidimensional signal processing,Spectral density estimation,Fundamental frequency,Control theory,Computer science,Waveform,Fourier series,Spectral density | Conference | 89 |
ISBN | Citations | PageRank |
978-3-642-19539-6 | 0 | 0.34 |
References | Authors | |
9 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tadej Petric | 1 | 178 | 20.60 |
| Andrej Gams | 2 | 385 | 29.54 |
| Leon Zlajpah | 3 | 100 | 16.58 |