Abstract
Spherical robots are a rather niche part of
robotics. Often IMUs are used for orientation
determination of those robots. These IMUs are mostly
placed in the center of the spherical shape, but for
different subtypes of spherical robots, this is not
possible due to different drive mechanism. This
paper evaluates Inertial Measurement Unit (IMU)
configurations for different spherical robot types
in terms of orientation determination accuracy in a
series of four experiments. We establish the
relationship between the accuracy of orientation
determination and the following aspects of IMU
configurations: (A) the number of IMUs, (B) the
distance of an IMU from the center of the sphere,
(C) symmetrical placement of IMUs around the
sphere’s center, and (D) axial placement. Based on
the findings of these experiments, we set up the
optimal configurations for the different types of
spherical robots.
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