Title :
Closed loop control for a 3D tentacle robot using artificial vision system
Author :
Manta, F. ; Dumitru, S. ; Cojocaru, D.
Author_Institution :
Fac. of Autom., Comput. & Electron., Univ. of Craiova, Craiova, Romania
Abstract :
Nowadays we can observe a grown in interest regarding the robots with high mobility degree, wanted for their capability to avoid obstacles and reach difficult positions in their working space. One particular class of these robots consists in tentacle robots, biologically inspired by cephalopods. Mathematical models and several control structures were presented during the last years, but a major problem remains: how to sense de current robot shape and position, since this class of robots doesn´t have discrete joints? A solution to this problem is given by visual servoing systems, and in this paper we will present a novel approach to solve it.
Keywords :
closed loop systems; mathematical analysis; mobile robots; robot vision; visual servoing; 3D tentacle robot; artificial vision system; cephalopods; closed loop control; mathematical model; obstacle avoidance; visual servoing system; Cameras; Image segmentation; Laser beams; Optical imaging; Robot kinematics; Robot vision systems;
Conference_Titel :
System Theory, Control, and Computing (ICSTCC), 2011 15th International Conference on
Conference_Location :
Sinaia
Print_ISBN :
978-1-4577-1173-2
