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Inclination measurement for purpose of balancing of robots has traditionally been accomplished using Inertial Measurement Units (IMUs) which use linear acceleration measurement and gyroscope data. This provides inclination measurement relative to an absolute axis (or coordinate system) and is subject to drift. The Vestibular Dynamic Inclinometer (V...
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In biomechanical studies Optical Motion Capture Systems (OMCS) are considered the gold standard for determining the orientation and the position (pose) of an object in a global reference frame. However, the use of OMCS can be difficult, which has prompted research on alternative sensing technologies, such as body-worn inertial sensors.
We developed...
The balance of robots has traditionally been accomplished using Inertial Measurement Units [IMUs] which use linear accelerations and gyroscope data to track the orientation of the vertical direction in inertial space. A novel approach , motivated by the human vestibular system in the human ear, is presented in this paper. It discusses the use of tw...
Citations
... This also allows for measurement of base link inclination parameters, which is instantaneously in contact with the ground and experiencing planar motion. The planar Vestibular Dynamic Inclinometer (pVDI) is an inclination sensor that measures inclination parameters for links/robots having five degree-of-freedom [21]. ...
... So, given the accelerometer and gyroscope inputs, the Equations 3-12 can be summarized as a pVDI i function as denoted in Figure 3. More details of the analysis are given in [21]. ...
A novel approach of dynamic, non-contact measurement of joint parameters using the planar Vestibular Dynamic Inclinometer (pVDI) is proposed in this paper. The gravity-invariant planar Vestibular Dynamic Inclinometer (pVDI) is a non-contact sensor that consists of symmetrically placed four dual-axis accelerometers and one tri-axial gyroscope. The deployment of the non-contact sensor is strategic and need not be at the joints. The paper proposes measurement of joint parameters — base angle, joint angle, angular velocity and angular acceleration, that are independent of integration errors/drift.
