0505797 20241106135733.620190624235959.9 85069931548 000490720700196 6 s. C cav_un_epca*0505796978-4-88898-301-31125-1130FukuokaIEEE2019 Sensor fusion Mechatronics Control applications cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. konferenční příspěvek 1,41 MB cav_un_auth*0347203 GA17-04682S GA ČR CZ The purpose of this paper is the experimental validation of the sensor fusion designed for the possible future use in the walking-like mechanical systems design. The validation is made using the actuated leg being the part of the fourlink laboratory walking-like system and it is equipped with several sensors. The experiments aim to track the reference angular positions trajectory using the state feedback controller. The information needed by that feedback controller (angular positions, velocities and input currents of DC motors actuating rotary joints) is obtained from the sensors measurements. Two types of experiments are compared: (i) using these measurements directly, (ii) pre-processing them via the designed sensor fusion method. The fusion is based on the so-called low-level hybrid Extended Kalman Filter (HEKF) realization, which has the future potential to be implemented on the PCBs attached to the legs links only. Yet, the presented experimental results demonstrate the prevalence of the control using the fused data. cav_un_auth*0376319 Asian Control Conference (ASCC 2019) /12./ 20190609 20190612 Kitakyusyu International Conference Center JP BC 20000 20200 20204 2020 2 4 A sml 4as 20241106135733.6 PR RVO:67985556 http://hdl.handle.net/11104/0297185 S Copyright Transfer 20190314 Copyright Transfer 0118 2 Article Plant Sciences|Ecology|Forestry 2019 Soubory v repozitáři: anderle-0505797 -Copyright_Transfer.pdf 85069931548 SCOPUS PUBMED 000490720700196 WOS konferenční příspěvek 1,41 MB cav_un_epca*0505796 Proceedings of the 12th Asian Control Conference (ASCC 2019) 978-4-88898-301-3 1125 1130 Fukuoka IEEE 2019