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 language | English |
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| Title of host publication | IEEE International Conference on Robotics & Automation : 2009 ICRA |
| Publisher | IEEE |
| Publication date | 2009 |
| Pages | 345 - 350 |
| ISBN (Print) | 978-1-4244-2788-8 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Robotics and Automation - Kobe, Japan Duration: 12 May 2009 → 17 May 2009 https://ewh.ieee.org/soc/ras/conf/fullysponsored/icra/2009/ |
Conference
| Conference | 2009 IEEE International Conference on Robotics and Automation |
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| Country/Territory | Japan |
| City | Kobe |
| Period | 12/05/2009 → 17/05/2009 |
| Internet address |