Heightened Proprioceptive Awareness and Safe Exploration

Jackie Libby, PhD StudentTony Stentz, Faculty Advisor

Robotics Institute, Carnegie Mellon University

Experimental PlatformMicrophone near

front wheels

Webcam aids in labeling data

Vibration sensor on wheel axle

Microphone near rear impact plate

Inertial Measurement Unit

Embedded computer for

most of the data acquisition

Laptop to interface with

embedded computer

Windows laptop for National Instruments

interface

National Instruments data acquisition

board

Acoustic signal

Short windows

Feature vectors

Binary SVM

Multiclass classifier

Acoustic Implementation

Processing Pipeline:

Acoustic Classification ResultsDifferent Feature / Classifier Combinations

Different Methods for Combining Front and Rear Microphones

Current/Future Work with Vibration Sensing

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

Crossbow IMU 440

Measurement Specialties

7100A

Aco

ustic

Vib

ratio

nIM

U

Pavement Gravel

Time

actual value

pavement gravel

predictedoutcome

pavement 72% 3%

gravel 28% 97%

• Piezoelectric vibration sensor• up to 10,000 Hz

Preliminary results with Vibration Data