A novel insect-inspired optical compass sensor for a hexapod walking robot

Julien Dupeyroux 1 Julien Diperi 1 Marc Boyron 1 Stéphane Viollet 2 Julien Serres 1
1 ISM - Institut des Sciences du Mouvement Etienne Jules Marey
2 Biorobotique
ISM - Institut des Sciences du Mouvement Etienne Jules Marey
Abstract : In an outdoor autonomous navigational context, classic compass sensors such as magnetometers have to deal with unpredictable magnetic disturbances. In this paper, we propose to get inspiration from the insect navigational abilities to design a celestial compass based on linear polarization of ultraviolet (UV) skylight. To compute the solar meridian relative orientation, our 3D-printed celestial compass uses only two pixels created by two UV-light photo-sensors topped with linear polarizers arranged orthogonally to each other, in the same manner that was observed in insects' Dorsal Rim Area ommatidia. The compass was then embedded on our hexapod walking robot called Hexabot. We first tested the UV-polarized light compass to compensate for yaw random disturbances. We then used the compass to maintain Hexabot's heading direction constant in a straightforward task, knowing the robot has important yaw drifts. Experiments under various meteorological conditions provided steady state heading direction errors from 0.3° under clear sky conditions to 1.9° under overcast sky, which suggests interesting precision and reliability to make this optical compass suitable for robotics.
Type de document :
Communication dans un congrès
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada
Liste complète des métadonnées

Littérature citée [22 références]  Voir  Masquer  Télécharger
https://hal-amu.archives-ouvertes.fr/hal-01643172
Contributeur : Julien Dupeyroux <>
Soumis le : mardi 21 novembre 2017 - 10:45:05
Dernière modification le : jeudi 18 janvier 2018 - 01:52:32

Fichier

DupeyrouxIROS2017.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01643172, version 1

Collections

UNIV-AMU | TDS-MACS

Citation

Julien Dupeyroux, Julien Diperi, Marc Boyron, Stéphane Viollet, Julien Serres. A novel insect-inspired optical compass sensor for a hexapod walking robot. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 〈hal-01643172〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

123

Téléchargements de fichiers

97

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD