Visual servoing and compliant motion control of a continuum robot

Kai-Tai Song, Han Chih Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a visual servoing and compliant motion control design of a continuum robot. Two endoscopic cameras were installed at the tip of the continuum robot to build a stereo camera system. The depth information is obtained by using semi-global block-matching (SGBM) algorithm. The visual servoing system proposed in this work includes the feature point extraction by using speeded-up robust features (SURF), followed by feature-point matching using nearest neighbor distance ratio (NNDR), and tracking of feature points by using mean shift algorithm. Through the pressure sensor installed around the circumference of the continuum robot, a compliant motion control design is proposed to make the robot to move in a constrained environment while executing the visual servoing task. Practical experiments show that the proposed method can effectively track a target and generate the adaptive motion when the robot encounters an obstacle during visual servoing.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages734-739
Number of pages6
ISBN (Electronic)9788993215151
StatePublished - 10 Dec 2018
Event18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
Duration: 17 Oct 201820 Oct 2018

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2018-October
ISSN (Print)1598-7833

Conference

Conference18th International Conference on Control, Automation and Systems, ICCAS 2018
CountryKorea, Republic of
CityPyeongChang
Period17/10/1820/10/18

Keywords

  • Compliant motion
  • Robot control
  • Robotic vision

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  • Cite this

    Song, K-T., & Tsai, H. C. (2018). Visual servoing and compliant motion control of a continuum robot. In International Conference on Control, Automation and Systems (pp. 734-739). [8571434] (International Conference on Control, Automation and Systems; Vol. 2018-October). IEEE Computer Society.