Conference paper
An explorative study of visual servo control with insect-inspired Reichardt-model
Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Germany1
Department of Systems and Computational Neurobiology, Max Planck Institute of Neurobiology, Am Klopferspitz 18, D-82152 Martinsried, Germany2
In this paper, an insect-inspired motion detector (Reichardt-model) is applied to visual servo control to ensure the stability of the system with high gain and time delay in its feedback. A Reichardt-based control scheme is compared with a conventional visual servoing approach. As a consequence of the specific velocity dependence of the Reichardt-model, the stability margin of the visual servo control is increased and high overall gains, thus, better performance are achievable.
The response of the Reichardt-model in the experiment and the control performance of velocity control approach with the Reichardt-model in the closed loop are investigated. The velocity control model is tested on a 1-DOF linear motor module with different feedback gain and different time delay in the loop.
The results of simulation and realtime experiments demonstrate the stabilizing character of the Reichardt-based approach.
| Language: | English |
|---|---|
| Year: | 2009 |
| Pages: | 345-350 |
| Proceedings: | 2009 IEEE International Conference on Robotics and Automation (ICRA) |
| ISBN: | 1424427886 , 1424427894 , 9781424427888 and 9781424427895 |
| ISSN: | 10504729 and 2577087x |
| Types: | Conference paper |
| DOI: | 10.1109/ROBOT.2009.5152462 |
1-DOF linear motor module Delay effects Detectors Feedback Motion detection Performance gain Servosystems Stability Testing Velocity control Visual servoing biomimetics closed loop system closed loop systems delays end effector end effectors feedback feedback gain insect-inspired Reichardt-model motion control motion detector robot vision servomechanisms stability time delay velocity control visual servo control visual servoing
