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A bio-plausible design for visual pose stabilization
Abstract We consider the problem of purely visual p …
We consider the problem of purely visual pose stabilization (also known as servoing) of a second-order rigid- body system with six degrees of freedom: how to choose forces and torques, based on the current view and a memorized goal image, to steer the pose towards a desired one. Emphasis has been given to the bio-plausibility of the computation, in the sense that the control laws could be in principle implemented on the neural substrate of simple insects. We show that stabilizing laws can be realized by bilinear/quadratic operations on the visual input. This particular computational structure has several numerically favorable characteristics (sparse, local, and parallel), and thus permits an efficient engineering implementation. We show results of the control law tested on an indoor helicopter platform.
w tested on an indoor helicopter platform.  +
Authors Shuo Han, Andrea Censi, Andrew D Straw, Richard M Murray  +
ID 2010a  +
Source IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 (To appear)  +
Tag hcsm10-iros  +
Title A bio-plausible design for visual pose stabilization +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:16:23  +
URL
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http://www.cds.caltech.edu/~murray/preprints/hcsm10-iros.pdf  +
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A bio-plausible design for visual pose stabilization + Title
 

 

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