Publication: Revisión, modificación y validación experimental del sistema sensorial del robot HOAP3
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2011-07-18
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2011-07-18
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Abstract
Los sensores de un robot son necesarios para que este pueda interactuar con su entorno. Es muy importante poder confiar en las medidas proporcionadas por esos componentes así que este proyecto se propone comprobar el estado de los sensores del robot humanoide HOAP3. Partiendo una hipótesis ideal en la que los sensores tendrían que proporcionar correctamente la información, se procede a realizar las primeras pruebas de obtención de datos de cada sensor en las que desafortunadamente se reflejan errores como son por ejemplo el cálculo del peso y el ZMP (Zero Moment Point) del robot tomado con los sensores FSR (Force Sensing Resistor) de los pies, la calibración de los FSR de las manos, la calibración de la distancia que proporciona el sensor infrarrojo, el error de offset en los sensores giróscopo y acelerómetro, además del ruido de este último sensor influenciado por los motores cercanos cuando se encuentran encendidos y demás errores que se detallan en el documento. Esta hipótesis ideal se consideraría nula puesto que las primeras pruebas realizadas mostraban todo lo contrario. Así se plantean varias preguntas: ¿Cómo se va a llevar a cabo este estudio?, ¿De qué manera solventar estos errores?, y la más importante, ¿Aparecerán problemas nuevos mientras se solventan dichos errores? Estas preguntas y algunas otras que no se plantean de momento, se responderán a lo largo de los capítulos de este proyecto. Entonces, como el título indica, este proyecto se centra principalmente en la revisión, modificación y validación experimental de los sensores del robot HOAP3. Este trabajo lleva consigo la realización de determinados ensayos previos para comprobar el estado inicial de todos los sensores, seguido de una posterior modificación de determinados parámetros y vuelta a hacer nuevos ensayos, esta vez para comprobar la evolución de los sensores y todo ello bajo el objetivo real que se presenta y que consiste en la calibración de todos los sensores. Como no todos son iguales, se implementarán diferentes técnicas de calibración para obtener soluciones acertadas a los errores en función de la evolución de los datos que muestran los ensayos. Otro aspecto a tener en cuenta es la validación experimental de la nueva calibración, la cual se realizará mediante el uso de determinadas herramientas como por ejemplo la medida de distancias para la calibración del infrarrojo o el cálculo del ZMP para la correcta verificación de los datos proporcionados por los FSR situados en los pies. __________________________________________________________________________________________________________________________
Sensors in a robot are needed so that it can interact with its environment. It is very important to rely on the measurements provided by such components and so, this project aims at checking the status of the sensors of the humanoid robot HOAP3. From an ideal hypothesis in which the sensors could provide correct information, we proceed to perform the first tests to obtain data from each sensor in which unfortunately errors are encountered such as, for example, by calculating the weight and the ZMP (Zero Moment Point) through FSR sensors placed in the feet, the calibration of the FSR of the hands, the calibration of the distance provided by the infrared sensor, the offset error in the gyroscope and accelerometer sensors, besides the noise of this latter sensor influenced by the motors when they are on and other errors detailed in the document. The ideal hypothesis would be considered invalid because the first tests showed quite the opposite. This raises several questions: How are you going to conduct this study? How to solve these errors? And most importantly, will there be new problems while solving this error? These questions and some that do not arise at the moment will be answered throughout the chapters of this project. Then, as the title indicates, this project focuses primarily on the review, modification and experimental validation of HOAP3 robot's sensors. This work involves the completion of certain preliminary tests to check the initial state of all sensors, followed by a subsequent change in certain parameters and return to do further testing, this time for monitoring the sensors and all under the real objective presented: the calibration of all sensors. Since not all are equal, different techniques of calibration will be implemented to obtain accurate solutions to errors depending on the evolution of test data. Another aspect to consider is the experimental validation of the new calibration, which is made by using certain tools such as distance measurement for calibration of infrared or calculation of the ZMP (Zero Moment Point) for the correct verification of data provided by the FSR (Force Sensing Resistor) located on the feet.
Sensors in a robot are needed so that it can interact with its environment. It is very important to rely on the measurements provided by such components and so, this project aims at checking the status of the sensors of the humanoid robot HOAP3. From an ideal hypothesis in which the sensors could provide correct information, we proceed to perform the first tests to obtain data from each sensor in which unfortunately errors are encountered such as, for example, by calculating the weight and the ZMP (Zero Moment Point) through FSR sensors placed in the feet, the calibration of the FSR of the hands, the calibration of the distance provided by the infrared sensor, the offset error in the gyroscope and accelerometer sensors, besides the noise of this latter sensor influenced by the motors when they are on and other errors detailed in the document. The ideal hypothesis would be considered invalid because the first tests showed quite the opposite. This raises several questions: How are you going to conduct this study? How to solve these errors? And most importantly, will there be new problems while solving this error? These questions and some that do not arise at the moment will be answered throughout the chapters of this project. Then, as the title indicates, this project focuses primarily on the review, modification and experimental validation of HOAP3 robot's sensors. This work involves the completion of certain preliminary tests to check the initial state of all sensors, followed by a subsequent change in certain parameters and return to do further testing, this time for monitoring the sensors and all under the real objective presented: the calibration of all sensors. Since not all are equal, different techniques of calibration will be implemented to obtain accurate solutions to errors depending on the evolution of test data. Another aspect to consider is the experimental validation of the new calibration, which is made by using certain tools such as distance measurement for calibration of infrared or calculation of the ZMP (Zero Moment Point) for the correct verification of data provided by the FSR (Force Sensing Resistor) located on the feet.
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Keywords
Robótica, Robots humanoides, Sensores ópticos, Visión artificial