Attitude stabilization of a biologically inspired robotic housefly via dynamic multimodal attitude estimation
Advanced Robotics, ISSN: 0169-1864, Vol: 23, Issue: 15, Page: 2113-2138
2009
- 8Citations
- 29Captures
Metric Options: CountsSelecting the 1-year or 3-year option will change the metrics count to percentiles, illustrating how an article or review compares to other articles or reviews within the selected time period in the same journal. Selecting the 1-year option compares the metrics against other articles/reviews that were also published in the same calendar year. Selecting the 3-year option compares the metrics against other articles/reviews that were also published in the same calendar year plus the two years prior.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Conference Paper Description
In this paper, we study sensor fusion for the attitude stabilization of micro aerial vehicles, particularly mechanical flying insects. Following a geometric approach, a dynamic observer is proposed that estimates attitude based on kinematic data available from different and redundant bioinspired sensors such as halteres, ocelli, gravitometers, magnetic compass and light polarization compass. In particular, the traditional structure of complementary filters, suitable for multiple sensor fusion, is specialized to the Lie group of rigid-body rotations SO(3). The filter performance based on a three-axis accelerometer and a three-axis gyroscope is experimentally tested on a 2-d.o.f. support, showing its effectiveness. Finally, attitude stabilization is proposed based on a feedback scheme with dynamic estimation of the state, i.e., the orientation and the angular velocity. Almost-global stability of the proposed controller in the case of dynamic state estimation is demonstrated via the separation principle, and realistic numerical simulations with noisy sensors and external disturbances are provided to validate the proposed control scheme. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=70449565098&origin=inward; http://dx.doi.org/10.1163/016918609x12529306840253; https://www.tandfonline.com/doi/full/10.1163/016918609X12529306840253; https://www.tandfonline.com/doi/pdf/10.1163/016918609X12529306840253; http://www.ingentaconnect.com/content/vsp/arb/2009/00000023/00000015/art00008
Informa UK Limited
Provide Feedback
Have ideas for a new metric? Would you like to see something else here?Let us know