六足机器人主动跟踪目标

M. Milushev, P. Petrov, O. Boumbarov
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引用次数: 5

摘要

在本文中,我们提出了一个六足实验室原型机器人的运动学描述和控制算法从机器人跟踪目标使用主动相机。介绍了一种具有流体肌肉的六足硬件平台。我们提出了一种自动控制倾斜相机跟踪目标并保持其图像在相机视图中居中的算法。在图像平面中定义一个误差坐标,表示相对于图像中心的目标偏移量,用于相机控制。仿真结果验证了所提控制律的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Active target tracking from a six-legged robot
In this paper we present a kinematic description of a six-legged laboratory prototype robot and control algorithm for tracking a target from the robot using active camera. The hexapod hardware platform with fluidic muscle is described. We present an algorithm that provides automatic control of a tilt camera to follow a target and keep its image centered in the camera view. An error coordinate defined in the image plane and representing the target offset with respect to the center of the image is used for camera control. Simulation results are presented to illustrate the effectiveness of the proposed control law.
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