4.7 Article

Model based estimation of ellipsoidal object using artificial electric sense

期刊

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 36, 期 9, 页码 1022-1041

出版社

SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364917709942

关键词

Bio-inspired robotics; artificial electric -sense; shape estimation; object localization

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资金

  1. European Union [640967]

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In this article we address the issue of shape estimation using electric sense inspired by the active electric fish. These fish can perceive their environment by measuring the perturbations in a self-generated electric field caused by nearby objects. The approach proceeded in three stages. Firstly, the object was detected and its electric properties (insulator or conductor) identified. Secondly, the object was localized using the multiple signal classification algorithm, which was originally developed to localize a radio wave emitter using a network of antennas. Thirdly, the shape estimation relied on the concept of generalized polarization tensor, which enabled us to model the electric response of an object polarized by an ambient electric field. We describe the implementation of the approach through numerous experiments. The system was able to estimate shape with an average error of16%, and opened the way toward further improvements. In particular, self-aligning the sensor with the ellipsoid through a reactive feedback makes the shape estimation errors drop to 10%.

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