A Vestibular System Model for Robots and Its Application in Environment Perception

This paper builds a vestibular system model for AIBO ERS-7 robot based upon its 3-axis accelerometer. The model consists of three parts, posture calculation method, low-pass filter deriving smoothed acceleration signals, Oscillation Power (O.P.), a pattern for differentiation of surfaces, and its extraction mechanism. It fulfills three environment perception tasks correspondingly, slope detection, live pose estimation and surface recognition, by actual experiments on AIBO.