Hi, here I will tell about some processes in SensorData-Processing. In our configuration, with the high number of different sensors, the SensorData-Processing is very important for the balancing and a walking engine with integrated balancing. Actually all important calculations are implemented (inclination, ...), but there are still some possibilities to improve reliability and quality of the calculations. The next steps are ...

• massive testing
• using the inclination to improve calculations of ZMP-Support-Polygon and Camera-Matrix
• using the redundancy to reduce noise

— schauert, 07.03.2007 20:29

The output interface (namely called "BodyPercept") is now considered as stable, i.e. the representations of the SensorData-Output won't change.

As there was no real progress the last days, cos I wait for some experiences with the sensors, to see what needs to be done and find some bugs - to fill this page with some content ;) here is some overview what the SensorDataProcessor calculates:

• inclination: the inclination is calculated in three different ways (where probably one won't be used in the final version), this shows the redundancy in the sensor-arrangement and possibilities in noise suppression
• angular rate: using some gyro's the angular rate is calculated
• acceleration: acceleration sensors are placed in the upper body. Some normalization is done to convert into a global coordinate system.
• CoP: the CoP=ZMP (Center of Pressure, Zero Moment Point) is calculated using force/pressure sensors, which are placed under the feet. The CoP is a common dynamic stability criterion and will be used by balancing engines and some specialized walking engines
• Camera matrix: using Forward Kinematic the camera matrix (transposition and rotation) to be used in the visual system

All these informations are stored in the mentioned BodyPercept and can be used by all Balancing and Walking engines. — schauert, 10.03.2007 18:43

... the last update is long time ago ... because we were switching to a completely new framework, therefore there was a lot of porting to be done. The sensor data processor is now ported and running - which required to port a lot of representations and helper classes, as well as some changes in the way new data is received by the sensor data processor from the sensors, due to the (heavily-)multi-threaded framework. — schauert, 23.05.2007 23:21