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Visual
Homing for Undulatory Robotic Locomotion |
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Brief description |
Abstract—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, involving the Nereisbot undulatory robotic
prototype, are also presented. |
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Contributions |
G. Lopez-Nicolas, M. Sfakiotakis, D. P. Tsakiris, Antonis Argyros, C. Sagues, J.J.
Guerrero |
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Sample results |
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Related publications
and documents |
G.Lopez-Nicolas,
M.Sfakiotakis, D.P. Tsakiris, A.A.
Argyros, C. Sagues, J.J. Guerrero, “Visual Homing for Undulatory Robotic
Locomotion”, in Proceedings of 2009 IEEE International Conference on Robotics
and Automation, pp. 2629-2636, Kobe, Japan, May 12-17, 2009. The electronic versions of the above publications can be downloaded
from my publications
page. |
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Last update |
08 February
2010, Antonis Argyros, argyros@ics.forth.gr |
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