Vision-Guided Swaying Controller for Legged Robots by Visual Servoing.
نویسندگان
چکیده
منابع مشابه
Adaptive visual servoing for legged robots-vision-cued swaying of legged robots in unknown environments
This paper describes a method to achieve a visioncued swaying task in unknown environments utilizing adaptive visual servoing. The proposed method has a hybrid structure consisting of a controller to keep the distances between feet constant (a stance servoing controller), and an adaptive visual servoing controller. Making use of the method, the motion of each joint need not be pre-programmed, b...
متن کاملVision-based servoing control for legged robots
This paper describes a vision-based servoing control scheme for legged robots to achieve a vision-guided swaying task utilizing a visual servoing technique. According to the controller, motions of the legs are not pre-programmed by analyzing the kinematics/dynamics of the system, but are generated by the servoing scheme reactively. The vision-based servoing scheme is a hybrid one consisting of ...
متن کاملA visual servoing controller for robot manipulators
Abstract— This paper presents a new control family of fixedcamera visual servoing for planar robot manipulators. The methodology is based-on energy shaping methodology in order to derive regulators for position-image visual servoing. The control laws have been composed by the gradient of an artificial potential energy plus a nonlinear velocity feedback. For a static target we characterize the g...
متن کاملImage Based Controller for Visual Servoing Systems
In this paper an image controller using model predictive control (MPC) for visual servoing systems is presented and its performances are analyzed. An eye-inhand type servoing architecture, composed from a 6 degree of freedom robot and a camera mounted on the gripper is considered. Modeling the visual servo open loop is composed from two stages: first the designing of a model for dynamics of the...
متن کاملVideo- Rate Visual Servoing for Robots
This paper presents some preliminary experimental results in robotic visual servoing, utilizing a newly available hardware region-growing and moment-generation unit. A Unix-based workstation in conjunction with special purpose video processing hardware has been used to visually close the robot position loop at video field rate, 60Hz. The architecture and capabilities of the system are discussed...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1999
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.17.750