Knowledge Commons of Institute of Automation,CAS
A VELOCITY COMPENSATION VISUAL SERVO METHOD FOR OCULOMOTOR CONTROL OF BIONIC EYES | |
Zhu, Zheng1,2; Zou, Wei1; Wang, Qingbin1,2; Zhang, Feng1 | |
发表期刊 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION |
2018 | |
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 |
DOI | 10.2316/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 | 中科院工业视觉智能装备工程实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A VELOCITY COMPENSAT(3729KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论