- Tytuł:
- Rat robot motion state identification based on a wearable inertial sensor
- Autorzy:
-
Chen, Yuxin
Xu, Haoze
Yang, Wei
Yang, Canjun
Xu, Kedi - Powiązania:
- https://bibliotekanauki.pl/articles/1849133.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
inertial sensor
real-time measurement
rat robot
motion state - Opis:
- Rat robots have great potential in rescue and search tasks because of their excellent motion ability. However, most of the current rat-robot systems relay on human guidance due to variable voluntary motor behaviour of rats, which limits their application. In this study, we developed a real-time system to detect a rat robot’s transient motion states, as the prerequisite for further study of automatic navigation. We built the detection model by using a wearable inertial sensor to capture acceleration and angular velocity data during the control of a rat robot. Various machine learning algorithms, including Decision Trees, Random Forests, Logistic Regression, and Support Vector Machines, were employed to perform the classification of motion states. This detection system was tested in manual navigation experiments, with detection accuracy achieving 96.70%. The sequence of transient motion states could be further used as a promising reference for offline behaviour analysis.
- Źródło:
-
Metrology and Measurement Systems; 2021, 28, 2; 255-268
0860-8229 - Pojawia się w:
- Metrology and Measurement Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł