2 research outputs found
Motion Control on Bionic Eyes: A Comprehensive Review
Biology can provide biomimetic components and new control principles for
robotics. Developing a robot system equipped with bionic eyes is a difficult
but exciting task. Researchers have been studying the control mechanisms of
bionic eyes for many years and considerable models are available. In this
paper, control model and its implementation on robots for bionic eyes are
reviewed, which covers saccade, smooth pursuit, vergence, vestibule-ocular
reflex (VOR), optokinetic reflex (OKR) and eye-head coordination. What is more,
some problems and possible solutions in the field of bionic eyes are discussed
and analyzed. This review paper can be used as a guide for researchers to
identify potential research problems and solutions of the bionic eyes' motion
control
Human Following for Wheeled Robot with Monocular Pan-tilt Camera
Human following on mobile robots has witnessed significant advances due to
its potentials for real-world applications. Currently most human following
systems are equipped with depth sensors to obtain distance information between
human and robot, which suffer from the perception requirements and noises. In
this paper, we design a wheeled mobile robot system with monocular pan-tilt
camera to follow human, which can stay the target in the field of view and keep
following simultaneously. The system consists of fast human detector, real-time
and accurate visual tracker, and unified controller for mobile robot and
pan-tilt camera. In visual tracking algorithm, both Siamese networks and
optical flow information are exploited to locate and regress human
simultaneously. In order in perform following with a monocular camera, the
constraint of human height is introduced to design the controller. In
experiments, human following are conducted and analysed in simulations and a
real robot platform, which demonstrate the effectiveness and robustness of the
overall system