0

Full Content is available to subscribers

Subscribe/Learn More  >

Vision Guided Motion Control of a Biomimetic Quadruped Robot: RoboCat

[+] Author Affiliations
Steven Carpenter, Xinming Yu, Melih Altun, James Graham, J. Jim Zhu, Janusz Starzyk

Ohio University, Athens, OH

Paper No. IMECE2011-63805, pp. 779-788; 10 pages
doi:10.1115/IMECE2011-63805
From:
  • ASME 2011 International Mechanical Engineering Congress and Exposition
  • Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology
  • Denver, Colorado, USA, November 11–17, 2011
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5488-4
  • Copyright © 2011 by ASME

abstract

This paper presents the vision system and visual processing for a biomimetic elastic cable-driven quadruped robot—RoboCat. The paper is geared towards selection of appropriate visual servoing techniques for RoboCat such as vision algorithms, high-level cognition algorithms, software architecture and hardware implementation. The system uses two video cameras for stereo vision data acquisition and a SUMIT-ism form factor embedded computer for vision data processing. The vision system employs a color based target recognition algorithm, a neural network based shape recognition algorithm and a Color and Zernike moment based face detection algorithm. The paper presents the vision algorithms, vision guidance and motion tracking algorithms, rule-based decision making algorithms and the open architecture of the autonomous vision tracking system. Experimental testing results (including video clips) are also presented.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In