A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES
Zhu, Zheng1,2; Zou, Wei1; Wang, Qingbin1,2; Zhang, Feng1
2018
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
卷号33期号:1页码:33-44
文章类型Article
摘要Aiming at the problem of tracking delay and large errors when conventional image-based visual servo is applied to tracking moving objects, a velocity compensation image-based visual servo controller is proposed for head-fixed oculomotor control in this paper, which covers saccade, smooth pursuit and vergence. The controller consists of a basic visual servo sub-controller and a velocity compensation sub-controller. The former is used to eliminate position error and the latter takes into account the target's velocity. Corresponding Jacobian matrixes are derived to implement the controller. At the same time, a novel adaptive gain is designed to boost the control law and continuous velocities are implemented to avoid abrupt changes. A simple but stable fixation point detection method is proposed to provide the input for the whole system. Extensive experiments are conducted and analysed in a real binocular platform implemented with off-the-shelf set-ups, which demonstrate the effectiveness of the proposed method.
关键词Image-based Visual Servo Target Velocity Compensation Bionic Eye Oculomotor Control
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2018.1.206-4938
关键词[WOS]SYSTEM ; MODEL ; SACCADES ; PURSUIT ; MOTION
收录类别SCI
语种英语
项目资助者National High Technology Research and Development Program of China (863 Program)(2015AA042307) ; National Natural Science Foundation of China(61403378 ; 51405484)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000431804100004
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22030
专题精密感知与控制研究中心_精密感知与控制
作者单位1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
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GB/T 7714
Zhu, Zheng,Zou, Wei,Wang, Qingbin,et al. A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2018,33(1):33-44.
APA Zhu, Zheng,Zou, Wei,Wang, Qingbin,&Zhang, Feng.(2018).A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,33(1),33-44.
MLA Zhu, Zheng,et al."A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 33.1(2018):33-44.
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