Title :
Control of snake-like robot based on kinematic model with image sensor
Author :
Xinyu, Liu ; Matsuno, Fumitoshi
Author_Institution :
Dept. of Precision Machinery Syst., Tokyo Inst. of Technol., Japan
Abstract :
In this paper, a vision based control of a redundant snake-like robot was proposed on the basis of kinematic model. With the camera installed on the head of the snake-like robot, position and posture can be real-time feedback to the controller via an image processing component. Experiment results are shown.
Keywords :
feedback; image processing equipment; image sensors; mobile robots; robot kinematics; robot vision; image processing component; image sensor; kinematic model; real-time feedback; snake-like robot vision control; Cameras; Control systems; Image sensors; Intelligent robots; Kinematics; Mobile robots; Robot control; Robot sensing systems; Robot vision systems; Shape control;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285598
