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A bio-plausible design for visual pose stabilization

Han, Shuo and Censi, Andrea and Straw, Andrew D. and Murray, Richard M. (2010) A bio-plausible design for visual pose stabilization. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 5679-5686. ISBN 9781424466740. https://resolver.caltech.edu/CaltechAUTHORS:20190326-141248010

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Abstract

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:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/iros.2010.5652857DOIArticle
http://resolver.caltech.edu/CaltechCDSTR:2010.001Related ItemTechnical Report
ORCID:
AuthorORCID
Censi, Andrea0000-0001-5162-0398
Straw, Andrew D.0000-0001-8381-0858
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2010 IEEE. This work is supported in part by the US Army Institute for Collaborative Biotechnology (ICB) and the Boeing Corporation.
Funders:
Funding AgencyGrant Number
Army Research Office (ARO)UNSPECIFIED
Boeing CorporationUNSPECIFIED
Record Number:CaltechAUTHORS:20190326-141248010
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190326-141248010
Official Citation:S. Han, A. Censi, A. D. Straw and R. M. Murray, "A bio-plausible design for visual pose stabilization," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, 2010, pp. 5679-5686. doi: 10.1109/IROS.2010.5652857
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94161
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:27 Mar 2019 15:00
Last Modified:03 Oct 2019 21:01

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