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Visual Tracking Control for Stereo Vision Robot to the Target in Arbitrary Motion
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Year: 2018 | Conference Paper |
The paper proposes the way of visual tracking control for the stereo vision robot, which consists of the active vision system. The robot keeps tracking to the moving target in arbitrary motion, with using the high-speed cameras installed on itself. The double pendulum is employed as the moving target in the experiments, which contains wide distribution of frequency in its tip motion, so that it is...Show More
Visual feedback control on stereo vision robot tracking the high-speed target in chaotic motion
2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics
Year: 2018 | Conference Paper |
Cited by: Papers (2)
The paper reports the experimental results of applications of the visual feedback control to track the high-speed target. The stereo vision robot with high-speed cameras keeps tracking the moving tip of the double pendulum. The double pendulum is well known to behave in chaotic motion, and then has been employed in our experiments in order to evaluate the performance of the visual tracking control...Show More
An estimation recovery method of depth observers by periodic image-based visual servoing
2015 IEEE International Conference on Industrial Technology (ICIT)
Year: 2015 | Conference Paper |
This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE condition is not always satisfied during a visual servoing task. The estimation of the depth observer stops if the PE condition fails. In our previous work ...Show More
Experimental study on climbing up and down the step for a biped robot
2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)
Year: 2014 | Conference Paper |
This study aims to achieve the smooth going up and down the step for a biped robot whose leg has 6 DOFs with kinematics redundancy. If COG position is not controlled in the going up and down motion, the robot falls down forward or backward. The robot has achieved the motion of going up the step in the proposed approach by its COG out of shifting the waist position. In our proposed approach, the CO...Show More
Visual feedback control method of a wheeled mobile robot using a pan camera preferentially
2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)
Year: 2014 | Conference Paper |
This paper addresses a vision-based control problem for a wheeled mobile robot with a pan camera (WMR+PC). The control inputs of the WMR+PC consist of pan rotational velocity of the camera and linear and angular velocities of the platform. When we adopt all three inputs for image-based visual servoing (IBVS), the standard IBVS controller dose not work at all due to the singularity of a Jacobian ma...Show More
Vision-based switching control strategy for a nonholonomic wheeled mobile robot with a pan camera
9th International Workshop on Robot Motion and Control
Year: 2013 | Conference Paper |
Cited by: Papers (3)
This paper presents a vision-based switching control strategy for a nonholonomic wheeled mobile robot with a pan camera (NHWMR+PC). The control inputs of the NHWMR+PC consist of a pan rotational velocity of the camera and linear and angular velocities of the platform. When we adopt all three inputs for image-based visual servoing (IBVS), the standard IBVS controller does not work at all due to the...Show More
Visual servoing tasks to improve estimation of a PE-condition-based depth observer
2012 Proceedings of SICE Annual Conference (SICE)
Year: 2012 | Conference Paper |
Cited by: Papers (1)
This paper addresses a depth estimation problem for a dynamic perspective system with a single camera. A depth observer based on Persistency-of-Excitation (PE) condition has been proposed. The depth observer is easy to implement and robust to noisy measurements, but has some difficulties on initializing and gain tuning. For the difficulties, we propose two periodic visual servoing tasks so as to r...Show More
Optical flow generation in color images with using color derivative vector
2012 12th IEEE International Workshop on Advanced Motion Control (AMC)
Year: 2012 | Conference Paper |
The paper proposes a novel method for estimating the optical flows from the sequentially captured images with using their own color information. The gradient method is well known as one of the conventional methods to estimate the flows, and then the spatial and temporal derivative of the images are used in the method. Since the color images have richer information than the monochrome ones, they sh...Show More
Visual tracking control for stereo vision robot with high gain controller and high speed cameras
2011 1st International Symposium on Access Spaces (ISAS)
Year: 2011 | Conference Paper |
Cited by: Papers (3)
The paper reports the visual tracking control to a fast moving object for stereo vision robot with using high speed cameras. The tracking delay due to the target motion should be suppressed with several approaches; adoption of the advanced control techniques, adjustment of the controller parameters, introduction of high-performance vision systems, and so on. In this paper, the ways adopting all of...Show More
Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Year: 2010 | Conference Paper |
Cited by: Papers (7)
This paper addresses a visual target following problem for a nonholonomic wheeled mobile robot with a single camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We present on-line trajectory planning based on feature-based visual servoing. The key idea is to compensate the target object motion. In particular we focus on visual fea...Show More
Image-based visual tracking to fast moving target for active binocular robot
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Year: 2010 | Conference Paper |
Cited by: Papers (3)
The paper reports the control way of visual tracking to a fast moving target with using an active binocular robot. The robot consists of a pair of active cameras and performs as a stereo vision system. The motions of those cameras are controlled independently and achieve rigid visual tracking respectively. The difficulty of visual tracking to a fast target is to suppress the tracking delay, affect...Show More
This paper addresses a inverse kinematics problem for kinematically redundant manipulators. In the problem, using the redundant degrees-of-freedom we can execute a secondary task which has no effect on a primary task. We usually design the secondary task as a performance criterion function to avoid obstacles, kinematic singularities, or joint limits, etc. For avoiding joint limits, however, many p...Show More
Development of multi-legged locomotion for fast walking
The 2010 International Power Electronics Conference - ECCE ASIA -
Year: 2010 | Conference Paper |
The paper describes the development of the walking robot with 6 legs actuated with electrical motors. The main subject in this paper is to achieve fast walking on the robot which is available to carry a human, and then the issues are to resolve the technical tradeoff between the power for its own heavy load and the walking speed for locomotion. The structures and gait designs of the robot are deta...Show More
Visual tracking of hand-eye robot for moving target object with multiple feature points
2010 11th IEEE International Workshop on Advanced Motion Control (AMC)
Year: 2010 | Conference Paper |
Cited by: Papers (4)
In this paper, we propose a visual tracking control method of a hand-eye robot for a moving target object with multiple feature points. The hand-eye robot is constructed from a three-DoF planar manipulator and a single CCD camera that is mounted on the manipulator's end-effector. The control objective is to keep all feature points of the target object around their desired coordinates on the image ...Show More
Visual tracking control to fast moving target for stereo vision robot
2010 11th IEEE International Workshop on Advanced Motion Control (AMC)
Year: 2010 | Conference Paper |
Cited by: Papers (5)
The paper describes a way of visual tracking control for stereo vision robot in case that the target moves around fast. Both the target and the active camera move simultaneously during the tracking in this paper. There would be several causes of generating the tracking errors; the velocity and acceleration of the target, the computing time and accuracy of the image processing, the motion delay of ...Show More
Experimental gait designing for biped robot based on practical examinations
2009 35th Annual Conference of IEEE Industrial Electronics
Year: 2009 | Conference Paper |
Cited by: Papers (1)
The paper describes a way of designing the gait for a biped robot, which is derived from falling down avoiding motion. Our proposed approach includes two phases of the motion, one is to remain standing at the spot, and the other is to take a step forward for avoiding the falling down. At first, the approach to remain standing at the spot is mentioned, where the COP on the ground should be made con...Show More
Non-delayed visual tracking of hand-eye robot for a moving target object
2009 ICCAS-SICE
Year: 2009 | Conference Paper |
This paper presents a non-delayed visual tracking method of a hand-eye robot for a moving target object. The hand-eye robot is constructed from a three degrees of freedom planar manipulator and a single charged-coupled device (CCD) camera that is mounted on the end-effector. The control objective is to keep the target object around the center of the image plane. In many conventional image-based vi...Show More
Non-delayed visual tracking of hand-eye robot for a moving target object
Year: 2009 | Conference Paper |
Non-delayed visual tracking of a moving object with target speed compensation
2007 IEEE International Conference on Mechatronics
Year: 2007 | Conference Paper |
Cited by: Papers (7)
The paper describes a novel method for visual tracking of a moving object with compensating tracking delay. Many of conventional visual feedback techniques based on image-based control law dealt with static target object, while the moving objects are tracked with the techniques based on position-based one. In case to track a moving target with the image-based controller, the tracking delay should ...Show More
The paper proposes a novel method of visual tracking for moving object without camera calibration. An active stereo vision robot tracks a moving target with image-based visual tracking. The target velocity in the 3D workspace is estimated in the camera coordinate frame, and the estimation contributes to the suppression of tracking delay, so that no steady-state error is achieved in visual tracking...Show More
Optimal posture control for object on active vision robot
Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.
Year: 2004 | Conference Paper |
The paper describes way of determining the optimal posture of active vision robot (AVRobot) for recognizing unidentified objects. In the object recognition with visual information by the AVRobot, it is required to measure the accurate positions of feature points of a target object. For the precise measurement, it is preferable, for example, that several feature points exist in a captured image for...Show More
Solution for stereo correspondences on active stereo vision robot
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.
Year: 2004 | Conference Paper |
Cited by: Papers (1)
The paper describes a novel method for determining stereo correspondent points in the stereomate on active stereo vision robot. The appropriate stereo pairs are detected from the candidates of the combinations of feature points in the images. The substantiality of the candidate is distinguished during the robot motion, controlled with visual servo technique. The validity of the proposed method is ...Show More
3D object tracking on active stereo vision robot
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
Year: 2002 | Conference Paper |
Cited by: Papers (6)
The paper describes a control method for visual tracking on the active stereo vision robot. The robot in unique structure has three joints; one is for base rotation and the others for each camera rotation, i.e. neck and eyes. As the system has a redundancy in the meaning of degrees-of-freedom, the novel control approach is introduced and the high performance of the tracking is achieved. The contro...Show More
Impact force reduction for biped robot based on decoupling COG control scheme
6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494)
Year: 2000 | Conference Paper |
The paper describes a novel approach to control a biped robot for the stable gaits. The target is to achieve to reduce the impact force with the ground when the swinging leg comes into contact with it. In our approach, redundant legs are introduced for the biped, and the decoupling control system are applied, which consists two independent control laws. One of the laws is for the hip position cont...Show More
Exploring motion planning for 3D object recognition
6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494)
Year: 2000 | Conference Paper |
Cited by: Papers (1)
In this paper, a new control scheme on image-based visual servoing is described. The proposed approach consists of two level strategies, one is in the motion planning and the other in the task planning. The method in the motion planning is based on the eigenvector derived from the product of the extended Jacobian. When the camera moves in the direction along the vector, the largest shift of featur...Show More
Describes a method to control the center of gravity (COG) of the legs of a biped robot. Each leg is endowed with 4 joints, so that the robot has a redundancy in each leg. In the redundant system, the position and posture of the leg can be controlled independently, with decoupling controller. In the paper, three types of disturbance observer are applied at a controller, and then the decoupled contr...Show More
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