Sensor fusion for skill transfer systems

摘要

Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a "model-free" equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the Institute of Robotics and System Dynamics at the DLR.