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Results of applying sensor fusion to a control system using optic flow

Martinez, G. and Becerra, V. M. (2005) Results of applying sensor fusion to a control system using optic flow. In: Armada, M. (ed.) Climbing and Walking Robots. Springer, New York, pp. 367-375. ISBN 3540229922

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Abstract/Summary

The results from applying a sensor fusion process to an adaptive controller used to balance all inverted pendulum axe presented. The goal of the sensor fusion process was to replace some of the four mechanical measurements, which are known to be sufficient inputs for a linear state feedback controller to balance the system, with optic flow variables. Results from research into the psychology of the sense of balance in humans were the motivation for the investigation of this new type of controller input. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described. The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training till-le for the adaptive controller and reduced performance (measured as the time the pendulum remains upright)

Item Type:Book or Report Section
Divisions:Faculty of Science
ID Code:14427
Publisher:Springer

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