In this paper, an insect-inspired motion detector (Reichardt-model) is applied to visual servo control to ensure the stability of the system with high gain and time delay in its feedback. A Reichardt-based control scheme is compared with a conventional visual servoing approach. As a consequence of the specific velocity dependence of the Reichardt-model, the stability margin of the visual servo control is increased and high overall gains, thus, better performance are achievable. The response of the Reichardt-model in the experiment and the control performance of velocity control approach with the Reichardt-model in the closed loop are investigated. The velocity control model is tested on a 1-DOF linear motor module with different feedback gain and different time delay in the loop. The results of simulation and realtime experiments demonstrate the stabilizing character of the Reichardt-based approach.
|Title of host publication||IEEE International Conference on Robotics & Automation : 2009 ICRA|
|Pages||345 - 350|
|Publication status||Published - 2009|
|Event||2009 IEEE International Conference on Robotics and Automation - Kobe, Japan|
Duration: 12 May 2009 → 17 May 2009
|Conference||2009 IEEE International Conference on Robotics and Automation|
|Period||12/05/2009 → 17/05/2009|