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http://dx.doi.org/10.5302/J.ICROS.2008.14.10.998

Implementation and Experimentation of Tracking Control of a Moving Object for Humanoid Robot Arms ROBOKER by Stereo Vision  

Lee, Woon-Kyu (도담시스템)
Kim, Dong-Min (충남대학교 메카트로닉스)
Choi, Ho-Jin (충남대학교 메카트로닉스)
Kim, Jeong-Seob (충남대학교 메카트로닉스)
Jung, Seul (충남대학교 메카트로닉스)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.10, 2008 , pp. 998-1004 More about this Journal
Abstract
In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.
Keywords
humanoid robot arms; visual feedback; time-delayed controller;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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