Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations

Wei Cheng; Xiaopeng Chen; Yang Xu; Xilong Liu

doi:10.1109/ROBIO49542.2019.8961619

Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations

Wei Cheng, Xiaopeng Chen^*, Yang Xu, Xilong Liu

^*Corresponding author for this work

School of Mechatronical Engineering

Chinese Academy of Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

The vibration of the robot during the movement brings various irregular motion disturbances to the robot's head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment. This paper presents a mechanical stabilization method based on gravity and disturbance compensations, which considers and compensates the gravity influences of the mechanical structure and external disturbances. Finally, the current command of the joint motor is generated based on the compensations, which can quickly stabilize the image. We performed simulation and physical experiments to verify the performance of our proposed method.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	936-941
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961619
Publication status	Published - Dec 2019
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

Keywords

Disturbance compensation
Gravity compensation
Mechanical stabilization
Robotic bionic eyes

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10.1109/ROBIO49542.2019.8961619

Cite this

Cheng, W., Chen, X., Xu, Y., & Liu, X. (2019). Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 936-941). Article 8961619 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961619

@inproceedings{887e814661df4e6d94a48d9ee7d3fceb,

title = "Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations",

abstract = "The vibration of the robot during the movement brings various irregular motion disturbances to the robot's head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment. This paper presents a mechanical stabilization method based on gravity and disturbance compensations, which considers and compensates the gravity influences of the mechanical structure and external disturbances. Finally, the current command of the joint motor is generated based on the compensations, which can quickly stabilize the image. We performed simulation and physical experiments to verify the performance of our proposed method.",

keywords = "Disturbance compensation, Gravity compensation, Mechanical stabilization, Robotic bionic eyes",

author = "Wei Cheng and Xiaopeng Chen and Yang Xu and Xilong Liu",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ROBIO49542.2019.8961619",

language = "English",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "936--941",

booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

address = "United States",

}

Cheng, W, Chen, X, Xu, Y & Liu, X 2019, Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961619, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 936-941, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961619

Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations. / Cheng, Wei; Chen, Xiaopeng; Xu, Yang et al.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 936-941 8961619 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations

AU - Cheng, Wei

AU - Chen, Xiaopeng

AU - Xu, Yang

AU - Liu, Xilong

PY - 2019/12

Y1 - 2019/12

N2 - The vibration of the robot during the movement brings various irregular motion disturbances to the robot's head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment. This paper presents a mechanical stabilization method based on gravity and disturbance compensations, which considers and compensates the gravity influences of the mechanical structure and external disturbances. Finally, the current command of the joint motor is generated based on the compensations, which can quickly stabilize the image. We performed simulation and physical experiments to verify the performance of our proposed method.

AB - The vibration of the robot during the movement brings various irregular motion disturbances to the robot's head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment. This paper presents a mechanical stabilization method based on gravity and disturbance compensations, which considers and compensates the gravity influences of the mechanical structure and external disturbances. Finally, the current command of the joint motor is generated based on the compensations, which can quickly stabilize the image. We performed simulation and physical experiments to verify the performance of our proposed method.

KW - Disturbance compensation

KW - Gravity compensation

KW - Mechanical stabilization

KW - Robotic bionic eyes

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U2 - 10.1109/ROBIO49542.2019.8961619

DO - 10.1109/ROBIO49542.2019.8961619

M3 - Conference contribution

AN - SCOPUS:85079041559

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

SP - 936

EP - 941

BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Y2 - 6 December 2019 through 8 December 2019

ER -

Cheng W, Chen X, Xu Y, Liu X. Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 936-941. 8961619. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961619

Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations

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