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Paper FrC10.2

Lopez-Nicolas, Gonzalo (Universidad de Zaragoza), Sfakiotakis, Michael (FORTH), Tsakiris, Dimitris (FORTH), Argyros, Antonis (FORTH), Sagues, Carlos (Universidad de Zaragoza), Guerrero, J.J. (Universidad de Zaragoza)

Visual Homing for Undulatory Robotic Locomotion

Scheduled for presentation during the Regular Sessions "Visual Navigation - II" (FrC10), Friday, May 15, 2009, 13:50−14:10, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Visual Navigation, Reactive and Sensor-Based Planning, Biologically-Inspired Robots

Abstract

This paper addresses the problem of vision-based closed-loop control for undulatory robots. We present an imagebased 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, involving the Nereisbot undulatory robotic prototype, are also presented.

 

 

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