A sound-based online method for estimating the time-varying posture of a hose-shaped robot

Yoshiaki Bando; Katsutoshi Itoyama; Masashi Konyo; Satoshi Tadokoro; Kazuhiro Nakadai; Kazuyoshi Yoshii; Hiroshi G. Okuno

doi:10.1109/SSRR.2014.7017665

A sound-based online method for estimating the time-varying posture of a hose-shaped robot

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time.

Original language	English
Title of host publication	12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781479941995
DOIs	https://doi.org/10.1109/SSRR.2014.7017665
Publication status	Published - 2014 Jan 21
Event	12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Hokkaido, Japan Duration: 2014 Oct 27 → 2014 Oct 30

Other

Other	12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014
Country/Territory	Japan
City	Hokkaido
Period	14/10/27 → 14/10/30

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSRR.2014.7017665

Cite this

Bando, Y., Itoyama, K., Konyo, M., Tadokoro, S., Nakadai, K., Yoshii, K., & Okuno, H. G. (2014). A sound-based online method for estimating the time-varying posture of a hose-shaped robot. In 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings Article 7017665 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2014.7017665

A sound-based online method for estimating the time-varying posture of a hose-shaped robot. / Bando, Yoshiaki; Itoyama, Katsutoshi; Konyo, Masashi et al.
12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. 7017665.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bando, Y, Itoyama, K, Konyo, M, Tadokoro, S, Nakadai, K, Yoshii, K & Okuno, HG 2014, A sound-based online method for estimating the time-varying posture of a hose-shaped robot. in 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings., 7017665, Institute of Electrical and Electronics Engineers Inc., 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014, Hokkaido, Japan, 14/10/27. https://doi.org/10.1109/SSRR.2014.7017665

Bando Y, Itoyama K, Konyo M, Tadokoro S, Nakadai K, Yoshii K et al. A sound-based online method for estimating the time-varying posture of a hose-shaped robot. In 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings. Institute of Electrical and Electronics Engineers Inc. 2014. 7017665 doi: 10.1109/SSRR.2014.7017665

@inproceedings{e8a66ab41cb0407c80dbe8a72eeb1106,

title = "A sound-based online method for estimating the time-varying posture of a hose-shaped robot",

abstract = "This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time.",

author = "Yoshiaki Bando and Katsutoshi Itoyama and Masashi Konyo and Satoshi Tadokoro and Kazuhiro Nakadai and Kazuyoshi Yoshii and Okuno, {Hiroshi G.}",

year = "2014",

month = jan,

day = "21",

doi = "10.1109/SSRR.2014.7017665",

language = "English",

isbn = "9781479941995",

booktitle = "12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 ; Conference date: 27-10-2014 Through 30-10-2014",

}

TY - GEN

T1 - A sound-based online method for estimating the time-varying posture of a hose-shaped robot

AU - Bando, Yoshiaki

AU - Itoyama, Katsutoshi

AU - Konyo, Masashi

AU - Tadokoro, Satoshi

AU - Nakadai, Kazuhiro

AU - Yoshii, Kazuyoshi

AU - Okuno, Hiroshi G.

PY - 2014/1/21

Y1 - 2014/1/21

N2 - This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time.

AB - This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time.

UR - http://www.scopus.com/inward/record.url?scp=84946687292&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84946687292&partnerID=8YFLogxK

U2 - 10.1109/SSRR.2014.7017665

DO - 10.1109/SSRR.2014.7017665

M3 - Conference contribution

AN - SCOPUS:84946687292

SN - 9781479941995

BT - 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014

Y2 - 27 October 2014 through 30 October 2014

ER -

A sound-based online method for estimating the time-varying posture of a hose-shaped robot

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this