• DocumentCode
    226779
  • Title

    Visual servo control of the hexapod robot with obstacle avoidance

  • Author

    Wen-Shyong Yu ; Chiau-Wei Huang

  • Author_Institution
    Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan
  • fYear
    2014
  • fDate
    6-11 July 2014
  • Firstpage
    713
  • Lastpage
    720
  • Abstract
    This paper is to design a visual servo control for a hexapod robot with obstacle avoidance. The implementation of the motion control for the hexapod robot using the inverse kinematics and visual recognition system is used to achieve the trajectory tracking with obstacle avoidance. The control structure is composed of three parts: a tilt camera based on the concepts of mechanical geometry, visual servo control systems, and motion dynamics for trajectory tracking and obstacle avoidance. First, the depth between the obstacle and robot based on the proportion of the size of the area is constructed. Then, the image processing is used to identify whether there are any obstacles in the front, and make it as a feedback to the servo control system. For image recognition, we use OpenCV to process environment to the grayscale and binarization, filter noise through erosion and dilation, and then fill all of the contours using Sobel edge detection, and finally calculate the area and compare that with each other. Finally, some experiments for a hexapod robot with obstacle avoidance are used to validate the performance of the proposed control scheme.
  • Keywords
    cameras; collision avoidance; control system synthesis; edge detection; feedback; image denoising; legged locomotion; motion control; robot kinematics; robot vision; OpenCV; Sobel edge detection; area size proportion; feedback; grayscale image; hexapod robot motion control; image binarization; image dilation; image erosion; image processing; image recognition; inverse kinematics; mechanical geometry; motion dynamics; noise filtering; obstacle avoidance; tilt camera; trajectory tracking; visual recognition system; visual servo control design; Collision avoidance; Equations; Image edge detection; Robot kinematics; Servomotors; Visualization; Hexapod robot; motion dynamics; obstacle avoidance; trajectory tracking; visual servo control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Fuzzy Systems (FUZZ-IEEE), 2014 IEEE International Conference on
  • Conference_Location
    Beijing
  • Print_ISBN
    978-1-4799-2073-0
  • Type

    conf

  • DOI
    10.1109/FUZZ-IEEE.2014.6891708
  • Filename
    6891708