제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제21권3호
  • /
  • Pages.250-256
  • /
  • 2015
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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시각기반 웜 자세의 기구학적 모형화

Vision-based Kinematic Modeling of a Worm's Posture

  • 도용태 (대구대학교 전자전기공학부 전자제어공학전공) ;
  • 탄콕키옹 (싱가포르 국립대학교 전기 및 컴퓨터공학과)
  • Do, Yongtae (Department of Electronic & Electrical Engineering, Daegu University) ;
  • Tan, Kok Kiong (Department of Electrical & Computer Engineering, National University of Singapore)
  • 투고 : 2014.11.14
  • 심사 : 2015.02.02
  • 발행 : 2015.03.01
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초록

We present a novel method to model the body posture of a worm for vision-based automatic monitoring and analysis. The worm considered in this study is a Caenorhabditis elegans (C. elegans), which is popularly used for research in biological science and engineering. We model the posture by an open chain of a few curved or rigid line segments, in contrast to previously published approaches wherein a large number of small rigid elements are connected for the modeling. Each link segment is represented by only two parameters: an arc angle and an arc length for a curved segment, or an orientation angle and a link length for a straight line segment. Links in the proposed method can be readily related using the Denavit-Hartenberg convention due to similarities to the kinematics of an articulated manipulator. Our method was tested with real worm images, and accurate results were obtained.

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참고문헌

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