Han, Shuo and Censi, Andrea and Straw, Andrew D. and Murray, Richard M. (2010) A bio-plausible design for visual pose stabilization. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2010.001
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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.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||This work is supported in part by the US Army Institute for Collaborative Biotechnology (ICB) and the Boeing Corporation.|
|Group:||Control and Dynamical Systems Technical Reports|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||29 Mar 2010|
|Last Modified:||26 Dec 2012 14:31|
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