Design of a camera stabilizer system for robotic fish based on feedback-feedforward control

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Design of a camera stabilizer system for robotic fish based on feedback-feedforward control
	Yang, Xiang; Wu, Zhengxing; Liu, Jincun; Yu, Junzhi
	2016
会议名称	35th Chinese Control Conference, CCC 2016
会议日期	July 27, 2016 - July 29, 2016
会议地点	Chengdu, China
关键词	underwater robot Robotic fish camera stabilizer feedback-feedforward controller underwater vision
英文摘要	This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish head. In order to acquire the stable image from the camera located inside of the fish head, a camera stabilizer for the visual system is designed. Meanwhile, an Inertial Measurement Unit (IMU) with nine degrees-of-freedom (DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial frame. To accurately describe the stabilizer system characteristics, a simple and effective system model is built. Moreover, a feedback-feedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is swimming. Finally, the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizerand the corresponding feedback-feedforward control approach for enhancing the stability of images.
会议录	Chinese Control Conference, CCC
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13031]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式 GB/T 7714	Yang, Xiang,Wu, Zhengxing,Liu, Jincun,et al. Design of a camera stabilizer system for robotic fish based on feedback-feedforward control[C]. 见:35th Chinese Control Conference, CCC 2016. Chengdu, China. July 27, 2016 - July 29, 2016.