Related papers: Pendulum Sensor using an Optical Mouse
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
Here we present a computational tool for optical tweezers which calculates the particle tracking signal measured with a quadrant detector and the shot-noise limit to position resolution. The tool is a piece of Matlab code which functions…
We report on the design and sensitivity of a new torsion pendulum for measuring the performance of ultra-precise inertial sensors and for the development of associated technologies for space-based gravitational wave observatories and…
Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…
The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as data acquisition and control device. These are versatile sensors that offer…
A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…
In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…
The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…
This paper presents a general formulation of equations of motion of a pendulum with n point mass by use of two different methods. The first one is obtained by using Lagrange Mechanics and mathematical induction(inspection), and the second…
LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
Fluid velocimetry is fundamental to a breadth of applications spanning academia and industry, however velocimetry at high temporal resolution is often prohibitively costly. Here, we introduce a Fast and InExpensive Velocimeter (FIEVel)…
We have developed a scheme to measure the optical torque, exerted by a laser beam on a phase object, by measuring the orbital angular momentum of the transmitted beam. The experiment is a macroscopic simulation of a situation in optical…
Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…
The innovation process is always required to produce more advanced technology and increasing productivity. PDM (Probes Distance Meter) comes as a technological innovation in measurement, PDM is a digital distance measuring instrument uses a…
This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…