Real-time vision-based control of swing motion by a human-form robot using the remote-brained approach
- 24 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 15-22
- https://doi.org/10.1109/iros.1996.570616
Abstract
We present a vision-based real-time control system of a human-form robot in swing motion. The robot has 16 DOF joints and a camera which is designed to do research on human-form robot behaviors. The key idea to develop the vision based system for the robots are the remote-brained approach and real-time visual tracking. In this approach, the robot system is designed to have the brain and the body separate and to connect them by a radio link. The body sends the visual image to the brain and the body receives the motion, references. The basic algorithm to observe the swing motion by vision uses the optical flow generation. The control algorithm for flow-based visual feedback is described.Keywords
This publication has 5 references indexed in Scilit:
- Robot vision system with a correlation chip for real-time tracking, optical flow and depth map generationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Robust computation of optical flow in a multi-scale differential frameworkPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Vision-equipped apelike robot based on the remote-brained approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Two-armed bipedal robot that can walk, roll over and stand upPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Determining optical flowArtificial Intelligence, 1981