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Conference Paper: Non-vector space landing control for a miniature tailed robot

TitleNon-vector space landing control for a miniature tailed robot
Authors
Issue Date2015
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393
Citation
The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. In Conference Proceedings, 2015, p. 2154-2159 How to Cite?
AbstractSmall insects can use vision to successfully land on arbitrary surfaces. For miniature robots with a size of a few centimeters, it is challenging to achieve similar capabilities due to their small sizes. To address this problem, we present a new vision based landing algorithm using a non-vector space control method, which formulates the system dynamics in the space of sets - different from the traditional vector space with a linear structure. Using a stabilization controller in the non-vector space, we can control the landing posture of a small robot with an active tail. Preliminary experimental results demonstrate the effectiveness of the proposed approach. The research presented in this paper, together with the idea of compressive feedback - when only a compressed image is used for feedback - can potentially achieve real time onboard vision based control for miniature robots. © 2015 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/235007
ISBN
ISSN

 

DC FieldValueLanguage
dc.contributor.authorZhao, J-
dc.contributor.authorShen, H-
dc.contributor.authorXi, N-
dc.date.accessioned2016-10-14T13:50:41Z-
dc.date.available2016-10-14T13:50:41Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. In Conference Proceedings, 2015, p. 2154-2159-
dc.identifier.isbn978-147999994-1-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/235007-
dc.description.abstractSmall insects can use vision to successfully land on arbitrary surfaces. For miniature robots with a size of a few centimeters, it is challenging to achieve similar capabilities due to their small sizes. To address this problem, we present a new vision based landing algorithm using a non-vector space control method, which formulates the system dynamics in the space of sets - different from the traditional vector space with a linear structure. Using a stabilization controller in the non-vector space, we can control the landing posture of a small robot with an active tail. Preliminary experimental results demonstrate the effectiveness of the proposed approach. The research presented in this paper, together with the idea of compressive feedback - when only a compressed image is used for feedback - can potentially achieve real time onboard vision based control for miniature robots. © 2015 IEEE.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems. Proceedings-
dc.rightsIEEE International Conference on Intelligent Robots and Systems. Proceedings. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleNon-vector space landing control for a miniature tailed robot-
dc.typeConference_Paper-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2015.7353665-
dc.identifier.scopuseid_2-s2.0-84958182535-
dc.identifier.hkuros269339-
dc.identifier.spage2154-
dc.identifier.epage2159-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 161019-

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