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Heightened Proprioceptive Awareness and Safe Exploration

This research by Jackie Libby and Tony Stentz at Carnegie Mellon University explores proprioceptive awareness and safe exploration using an experimental robotic platform. The setup includes a Windows laptop interfacing with a National Instruments data acquisition board, augmented by microphones and an embedded computer for data collection. Acoustic classification results from front and rear microphones are analyzed, and future work focuses on incorporating vibration sensing to enhance performance in various terrains. The study leverages advanced sensors to provide insights into effective robotic navigation in complex environments.

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Heightened Proprioceptive Awareness and Safe Exploration

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  1. Heightened Proprioceptive Awareness and Safe Exploration Jackie Libby, PhD Student Tony Stentz, Faculty Advisor Robotics Institute, Carnegie Mellon University

  2. 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

  3. Acoustic Implementation Processing Pipeline:

  4. Acoustic Classification Results Different Feature / Classifier Combinations Different Methods for Combining Front and Rear Microphones

  5. 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

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