On-board IMU array Sample Clauses

On-board IMU array. The goal of the IMU devices is to provide attitude of each wagon and velocity estimation of drill-head in body axis coordinates. Technological barriers towards this goal are: (i) the materials of the robot construction, (ii) the fact that the robot operates underground and therefore it is difficult to combine exteroceptive sensing with the IMUs, (iii) the drill head vibrations, and (iv) the slow dynamics of the robot (i.e. acceleration magnitude might be comparable with noise). These implementation difficulties will be addressed by installing an array of IMU on each wagon and by implementing filters specific to the badger excavation conditions. We will pursue one or more of the following four approaches: (1) using multiple low-cost 9-DOF IMU sensors, or (2) placing a single (high quality) IMU on a wagon and use the kinematic chain and Xxxxxxx platforms joints feedback to estimate the state of the other wagons, or (3) use a combination of both, or (4) use custom made IMUs in combination with joint feedback and kinematics.
Sample 1
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