A fast filtering algorithm using the transmission mechanism of human auditory information and its application on quadruped robot speed tracking

摘要

This paper develops a fast filtering algorithm based on the transmission mechanism of human auditory information. By integrating the function of cochlea tuning and short-term synaptic plasticity, the derived details and the feasible parameter criterion under minimum error variance condition are discussed. For illustration, the developed fast filtering algorithm is applied to the speed tracking of quadruped robot walks. The comparison with the Kalman filtering method is given from two aspects, the tracking performance and the tracking speed. Both the two illustrate the high-efficiency of developed fast filtering algorithm.