| Title: | OS7-2 Development of the Insectoid Walking Robot with Inertial Navigation System |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 387-390 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS7-2 |
| Author(s): | Vitaly Egunov, Andrey Kachalov, Michail Petrosyan, Pavel Tarasov, Elena Yankina |
| Publication Date: | February 2, 2018 |
| Keywords: | accelerometer, gyroscope, inertial navigation, mobile robot - hexapod, discrete integration, complementary filter |
| Abstract: | The article is devoted to the problem of controlling an insectoidwalking robot- hexapod. An inertial navigation system based on the accelerometer ADXL345 and the gyro ITG-3200 is used in the developed robot. The options for filtering data obtained from the inertial sensors and the methods of combining the accelerometer and gyroscope data to determine the roll and pitch are under consideration in the article. The original software has been designed to visualize the mobile robot position. For this purpose, the authors have developed a microcomputer program that transmits the calculated total deviations (roll and pitch) over a wireless Wi-Fi network to a personal computer which runs the developed program that process the data. The obtained data are processed and used to display an object implemented with the help of OpenGL library. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS7/OS7-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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