Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/93113
Type: | Conference paper |
Title: | Adaptive head stabilisation system for a snake-like robot |
Author: | Sergiienko, N. Chen, L. |
Citation: | Australasian Conference on Robotics and Automation, ACRA, 2015, vol.02-04-December-2014, pp.1-7 |
Publisher: | Australian Robotics and Automation Association Inc. |
Issue Date: | 2015 |
ISBN: | 9780980740448 |
ISSN: | 1448-2053 |
Conference Name: | Australasian Conference on Robotics and Automation 2014 (ACRA 2014) (2 Dec 2014 - 4 Dec 2014 : Melbourne, Australia) |
Statement of Responsibility: | Nataliia Sergiienko and Lei Chen |
Abstract: | Central Pattern Generators (CPGs) have become a popular solution for robot's locomotion control, in particular for snake-like robots. CPGs based on coupled nonlinear oscillators can be integrated with a sensory feedback to adapt the robot's locomotion to the environment or to achieve the desired dynamic characteristics of the movement. In this paper we present an adaptive head stabilisation system for a robotic snake that can adjust parameters of the oscillators to achieve minimal angular and linear motions of the robot's head. This allows to stabilise a video flow that comes from the camera attached to the head. Two head stabilisation systems are designed and the simulation results of the head movement are presented. It is shown that the linear displacement can be minimised by the proposed three oscillator method. |
Rights: | Copyright status unknown |
Published version: | http://www.araa.asn.au/acra/acra2014/papers/pap163.pdf |
Appears in Collections: | Aurora harvest 2 Mechanical Engineering conference papers |
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