Title :
An integrated approach for locomotion and visual control of a service hexapod via CNNs
Author :
Arena, Paolo ; Branciforte, Marco ; Caponetto, Riccardo ; Rizzo, Alessandro ; Peschiera, Giuseppe
Author_Institution :
Dipartimento Elettrico, Elettronico e Sistemistico, Catania Univ., Italy
Abstract :
Cellular neural networks (CNNs) are widely used, both for image processing (a classical application) and for generation of locomotion patterns. In particular, a hexapod walking robot is presented. The locomotion patterns are generated by a reaction diffusion-CNN and a visual servoing approach exploiting an external camera is adopted to control the trajectory
Keywords :
cellular neural nets; legged locomotion; motion control; robot dynamics; robot vision; cellular neural networks; hexapod walking robot; image processing; legged locomotion; reaction diffusion; robot vision; service robot; visual control; visual servoing; Cameras; Cellular neural networks; Image processing; Legged locomotion; Motion control; Partial differential equations; Postal services; Robot kinematics; Robot vision systems; Service robots;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936814
