Hello
I’m now working on my license project at Computer Engineering and i’m building a Biped Robot (only the lower body with the legs)) and i wanna know which sensor to use for robot equilibrium for the robot to not fall. I’m pending between using an Accelerometer and using a Gyro, I want to know your opinion, which is most suitable for my robot and why (argue).
Please help me …
Thank you.
Lucian
Both in conjunction are going to give you the best result.
Accelerometers only measure the rate of acceleration on an axis, so while they can tell you how fast you’re moving in relation to gravity, they can’t tell you how far you’ve rotated. That’s where gyros come in to play, they can’t tell you how fast, but they can tell you how far.
Look into IMUs (Inertial Measurement Unit), preferably the 6 axis variety, its what any serious bipedal robot is going to be using. I’m currently using an Analog Devices ADIS16355 IMU in my latest biped, but less expensive units can be used with good results. Sparkfun has a couple to check out.
Lucian,
You can find a basic write up on these two sensors here:
web.mit.edu/scolton/www/filter.pdf
Alex
