Active Stabilization of Images Acquired on a Walking Robotic Platform
To increase the quality of scientific data collected from autonomous mobile agents such as rovers and walking robotic devices, biological methods can be mimicked for better navigation and balance control of both the agent itself and the manipulation of scientific instruments. Drawing on the design of the neuro-vestibular control system, the EarBot controller is designed to stabilize a multi-axis camera system mounted atop a moving agent. An eight-legged robot called the SCORPION, designed to navigate and explore rough terrain considered inhospitable to wheeled rovers, is used as the testbed to analyze the EarBot’s functionality and behavior. Eventually, the EarBot will be used to control the balance the robot itself through expanded modelling of the vestibulo-motor control loops used in postural control. This paper presents the theoretical concepts and initial controller implementations for stabilizing the camera during walking motion of the SCORPION.
KeywordsVestibular System Robotic Platform Plant Dynamic Inertial Motion Linear Accelerometer
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