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Heightened Proprioceptive Awareness and Safe Exploration. Jackie Libby, PhD Student Tony Stentz, Faculty Advisor Robotics Institute, Carnegie Mellon University. Experimental Platform. Microphone near front wheels. Windows laptop for National Instruments interface.

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heightened proprioceptive awareness and safe exploration

Heightened Proprioceptive Awareness and Safe Exploration

Jackie Libby, PhD Student

Tony Stentz, Faculty Advisor

Robotics Institute, Carnegie Mellon University

experimental platform
Experimental Platform

Microphone near front wheels

Windows laptop for National Instruments interface

National Instruments data acquisition board

Microphone near rear impact plate

Laptop to interface with embedded computer

Embedded computer for most of the data acquisition

Webcam aids in labeling data

Inertial Measurement Unit

Vibration sensor on wheel axle

acoustic implementation
Acoustic Implementation

Processing Pipeline:

acoustic classification results
Acoustic Classification Results

Different Feature / Classifier Combinations

Different Methods for Combining Front and Rear Microphones

current future work with vibration sensing
Current/Future Work with Vibration Sensing

Pavement

Gravel

Measurement Specialties 7100A

Acoustic

Vibration

  • Piezoelectric vibration sensor
  • up to 10,000 Hz

IMU

Crossbow IMU 440

Preliminary results with Vibration Data

Time 

  • 6 DOF MEMS inertial sensors
  • 25 Hz low pass cutoff