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

fYear

2011

fDate

14-16 Oct. 2011

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, Control, and Computing (ICSTCC), 2011 15th International Conference on

Conference_Location

Sinaia

Print_ISBN

978-1-4577-1173-2

Type

conf

Filename

6085731