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Visual Homing for Undulatory Robotic Locomotion G. Lopez-Nicolas1, M. Sfakiotakis2, D. P. Tsakiris2, A. A. Argyros2, C. Sagues1 and J.J. Guerrero1
 

Summary: Visual Homing for Undulatory Robotic Locomotion
G. LŽopez-NicolŽas1, M. Sfakiotakis2, D. P. Tsakiris2, A. A. Argyros2, C. SagšuŽes1 and J.J. Guerrero1
Abstract-- This paper addresses the problem of vision-based
closed-loop control for undulatory robots. We present an image-
based visual servoing scheme, which drives the robot to a
desired location specified by a target image, without explicitly
estimating its pose. Instead, the control relies on the computa-
tion of the epipolar geometry between the current and target
images. We analyze controllability and stability of the proposed
control scheme, which is validated by simulation studies using
the SIMUUN computational tools. Preliminary experiments,
involving the Nereisbot undulatory robotic prototype, are also
presented.
I. INTRODUCTION
Autonomous navigation of mobile robots is a complex
problem that has attracted the attention of the research
community during the last decades. Most mobile robots are
wheeled vehicles and they have been extensively studied
in the literature. Currently, emerging applications demand
mobile robots capable of performing autonomous tasks in

  

Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete

 

Collections: Computer Technologies and Information Sciences