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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
  • 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


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



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