Front-unit-following control of a snake-like robot using screw drive mechanism based on past velocity commands.
Ryo AriizumiHiroaki FukushimaFumitoshi MatsunoPublished in: IROS (2011)
Keyphrases
- robot control
- mobile robot
- autonomous robots
- visual servoing
- control signals
- motion control
- robotic systems
- robot manipulators
- home environment
- control unit
- control architecture
- hand eye
- reference trajectory
- robotic arm
- human robot interaction
- optical flow
- computer controlled
- end effector
- real time
- action selection mechanism
- vision system
- position and orientation
- b spline
- autonomous vehicles
- control system
- biped robot
- semi autonomous
- kinematic model
- active contours
- service robots
- active contour model
- robotic manipulator
- path planning
- control loop
- closed loop
- robot behavior
- control method
- changing environment
- robot navigation
- human operators
- image sequences