Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Biomimetic Gyroscope Integrated with Actuation Parts of a Robot Inspired by Insect Halteres

평형곤을 모사한 생체모방형 구동부 일체형 각속도 센서

  • Jeong, Mingi (Interdisciplinary Program of Bioengineering, Seoul National University, Automation and Systems Research Institute (ASRI)) ;
  • Kim, Jisu (Department of Electrical and Computer Engineering, Seoul National University, ASRI) ;
  • Jang, Seohyeong (Interdisciplinary Program of Bioengineering, Seoul National University, Automation and Systems Research Institute (ASRI)) ;
  • Lee, Tae-Jae (Department of Electrical and Computer Engineering, Seoul National University, ASRI) ;
  • Shim, Hyungbo (Department of Electrical and Computer Engineering, Seoul National University, ASRI) ;
  • Ko, Hyoungho (Department of Electronics, Chungnam National University) ;
  • Cho, Kyu-Jin (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Cho, Dong-Il Dan (Interdisciplinary Program of Bioengineering, Seoul National University, Automation and Systems Research Institute (ASRI))
  • 정민기 (서울대학교 바이오엔지니어링학과) ;
  • 김지수 (서울대학교 전기정보공학부) ;
  • 장서형 (서울대학교 바이오엔지니어링학과) ;
  • 이태재 (서울대학교 전기정보공학부) ;
  • 심형보 (서울대학교 전기정보공학부) ;
  • 고형호 (충남대학교 전자공학과) ;
  • 조규진 (서울대학교 기계항공공학부) ;
  • 조동일 (서울대학교 바이오엔지니어링학과)
  • Received : 2016.04.19
  • Accepted : 2016.07.04
  • Published : 2016.09.01
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Abstract

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.

Keywords

References

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