An explorative study of visual servo control with insect-inspired Reichardt-model

Haiyan Wu, Tianguang Zhang, Alexander Borst, Kolja Kühnlenz, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics & Automation : 2009 ICRA
PublisherIEEE
Publication date2009
Pages345 - 350
ISBN (Print)978-1-4244-2788-8
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation - Kobe, Japan
Duration: 12 May 200917 May 2009
http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2009.html

Conference

Conference2009 IEEE International Conference on Robotics and Automation
CountryJapan
CityKobe
Period12/05/200917/05/2009
Internet address

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