@inproceedings{93870fe0aff64fd9835f7939e744aee2,
title = "Face tracking interaction control of a nonholonomic mobile robot",
abstract = "This paper presents a novel face tracking control scheme for human-robot interaction control in image plane. This control scheme is robust to the velocity quantization error in practical implementation. A visual tracking controller is designed for ensuring global asymptotic stability of the closed-loop visual tracking system based on an error-state control model in image plane. In order to overcome the quantization uncertainty encountered in practical systems, an image-based robust control law is proposed to guarantee the stability of the robotic control system based on Lyapunov theory. This design provides a useful solution for smooth visual tracking control of slow-motion robots in a home setting. Simulation and Experimental results verify the effectiveness of the proposed visual tracking control scheme, both in terms of tracking performance and system convergence.",
keywords = "Human-robot interaction, Interaction control, Real-time face tracking, Visual tracking control",
author = "Tsai, {Chi Yi} and Kai-Tai Song",
year = "2006",
month = dec,
day = "1",
doi = "10.1109/IROS.2006.282505",
language = "English",
isbn = "142440259X",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "3319--3324",
booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",
note = "null ; Conference date: 09-10-2006 Through 15-10-2006",
}