TY - GEN
T1 - An explorative study of visual servo control with insect-inspired reichardt-model
AU - Wu, Haiyan
AU - Zhang, Tianguang
AU - Borst, Alexander
AU - Kühnlenz, Kolja
AU - Buss, Martin
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/70350380725
U2 - 10.1109/ROBOT.2009.5152462
DO - 10.1109/ROBOT.2009.5152462
M3 - Conference contribution
AN - SCOPUS:70350380725
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 345
EP - 350
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -