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http://dx.doi.org/10.5302/J.ICROS.2013.12.1851

A Study on the Visual Servoing of Autonomous Mobile Inverted Pendulum  

Lee, Junmin (Pusan National University)
Lee, Jang-Myung (Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.3, 2013 , pp. 240-247 More about this Journal
Abstract
This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.
Keywords
visual servoing; computer vision; stereo vision; segway; mobile inverted pendulum; dual arm manipulator;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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