Experimental results: Suboptimal robust linear visual servoing with delay for an underactuated system

2010 ◽  
Author(s):  
A. Benitez-Morales ◽  
O. Santos ◽  
L. E. Ramos-Velasco
Keyword(s):  
Visual Servoing ◽  
Experimental Results ◽  
Underactuated System

Suboptimal robust linear visual servoing for a delayed underactuated system

2012 ◽  
Vol 34 (6) ◽  
pp. 696-711 ◽  
Author(s):  
A. Benitez-Morales ◽  
Omar Santos ◽  
Hugo Romero ◽  
Luis Enrique Ramos-Velasco
Keyword(s):  
Visual Servoing ◽  
Underactuated System

RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke

2006 ◽  
Author(s):  
Sachin Chitta ◽  
Mustafa Karabas ◽  
Kevin C. Galloway ◽  
Vijay Kumar
Keyword(s):  
Periodic Motion ◽  
Experimental Results ◽  
Steering Wheel ◽  
Underactuated System ◽  
Gait Generation ◽  
Modeling Simulation ◽  
Rocking Motion ◽  
Shape Deposition Manufacturing ◽  
Periodic Inputs

In this paper we present new experimental results for a novel underactuated system called the ROBOTRIKKE. The ROBOTRIKKE is a three-wheeled system that can be driven by periodic motion of its front steering wheel combined with rocking side-to-side motion of a robotic rider. We present two new generations of the ROBOTRIKKE including a ABS model made using Shape Deposition Manufacturing (SDM). We present modeling, simulation and experimental results for gait generation for the ROBOTRIKKE using a combination of periodic inputs for the steering axis and a rider. We show how a rocking motion (as used by human riders) can be used to improve the performance of the ROBOTRIKKE.

Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking

2019 ◽  
Author(s):  
Shubhdildeep S. Sohal ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mobile Robot ◽  
Motion Analysis ◽  
Visual Servoing ◽  
Experimental Results ◽  
Sensory Data ◽  
Simulated Environment ◽  
Locomotion Behavior ◽  
Coupling Performance ◽  
Design Integration ◽  
Hybrid Locomotion

Abstract This paper presents the design integration and experimental results of target-based autonomous locomotion of a Self-Reconfigurable Mobile Robot. Uncertainties in the sensory data can accumulate the misalignments in locomotion behavior of the robot. Such misalignments can result in a poor coupling performance resulting in the failure of the overall docked system. Therefore, it is desirable for a robot to be capable of mechanically tolerating such misalignments. As a result, a Hybrid-Wheeled mobile robot, interfaced with a 2-DOF, high misalignment tolerant coupling (GHEFT) mechanism is presented in this paper. This combined assembly is used as a source of locomotion for autonomous docking in a multi-robot assembly using Image-Based Visual Servoing (IBVS). The resulting output is then implemented in a simulated environment for the autonomous locomotion of the robot. Experimental results demonstrate the feature motion and trajectory followed under the hybrid locomotion of the robot.

A shape constraint based visual positioning method for a humanoid robot

Robotica ◽  
2006 ◽  
Vol 24 (4) ◽  
pp. 429-431 ◽  
Author(s):  
De Xu ◽  
Min Tan ◽  
Zemin Jiang ◽  
Huosheng Hu
Keyword(s):  
Visual Servoing ◽  
Humanoid Robot ◽  
Experimental Results ◽  
Shape Constraints ◽  
Shape Constraint ◽  
Visual Positioning ◽  
Positioning Method ◽  
End Effectors

This paper proposes a new visual positioning method for a humanoid robot to approach and grasp a valve based on colour and shape constraints. The robot has two cameras in its head and uses constraints of colour rectangle marks to determine the valve's position and pose. When the hands are near the valve, an image-based visual servoing method is employed to catch the handle of the valve via cameras in end-effectors. Experimental results are presented to verify the effectiveness of the proposed method.

A sketch drawing humanoid robot using image-based visual servoing

2019 ◽  
Vol 34 ◽  
Author(s):  
Meng-Cheng Lau ◽  
John Anderson ◽  
Jacky Baltes
Keyword(s):  
Error Correction ◽  
Visual Servoing ◽  
Humanoid Robot ◽  
Closed Loop ◽  
Open Loop ◽  
Experimental Results ◽  
Drawing Process ◽  
Open Loop Control ◽  
Loop Control ◽  
Error Correction Capability

Abstract This paper presents our sketch drawing artist humanoid robot research. One of the limitations of the existing artist humanoid robot is the lack of feedback on the error that occurs during the drawing process. The contribution of this research is the development of a humanoid robot artist with drawing error correction capability. Based on our previous work with open-loop control pen-and-ink humanoid robot artist, we have implemented a closed-loop visual servoing approach to address this problem. Our experimental results show that this approach is sufficient to correct drawing errors that occur due to mechanical limitation of a robot.

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