Visual Homing for Undulatory Robotic Locomotion

被引：0

作者：

Lopez-Nicolas, G. ^{[1
]}

Sfakiotakis, M. ^{[2
]}

Tsakiris, D. P. ^{[2
]}

Argyros, A. A. ^{[2
]}

Saguees, C. ^{[1
]}

Guerrero, J. J. ^{[1
]}

机构：

[1] Univ Zaragoza, DIIS I3A, E-50009 Zaragoza, Spain

[2] ICS, FORTH, Iraklion, Greece

来源：

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of vision-based closed-loop control for undulatory robots. We present an image-based visual servoing scheme, which drives the robot to a desired location specified by a target image, without explicitly estimating its pose. Instead, the control relies on the computation of the epipolar geometry between the current and target images. We analyze controllability and stability of the proposed control scheme, which is validated by simulation studies using the SIMUUN computational tools. Preliminary experiments, invoking the Nereisbot undulatory robotic prototype, are also presented.

引用

页码：1593 / +

页数：2

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