GEOMETRIC CONTROL OF A BINOCULAR HEAD

Eduardo Bayro-Corrochano; Julio Zamora-Esquivel

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Paper

GEOMETRIC CONTROL OF A BINOCULAR HEAD

Topics: Control and Supervision Systems; Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 183-188, 2007 , Angers, France

Authors: Eduardo Bayro-Corrochano and Julio Zamora-Esquivel

Affiliation: CINVESTAV, Mexico

Keyword(s): Conformal Geometry, Kinematics, Tracking.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper the authors use geometric algebra to formulate the differential kinematics of a binocular robotic head and reformulate the interaction matrix in terms of the lines that represent the principal axes of the camera. This matrix relates the velocities of 3D objects and the velocities of their images in the stereo images. Our main objective is the formulation of a kinematic control law in order to close the loop between perception and action, which allows to perform a smooth visual tracking.

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Paper citation in several formats:

Bayro-Corrochano, E. and Zamora-Esquivel, J. (2007). GEOMETRIC CONTROL OF A BINOCULAR HEAD. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 183-188. DOI: 10.5220/0001628001830188

@conference{icinco07,
author={Eduardo Bayro{-}Corrochano. and Julio Zamora{-}Esquivel.},
title={GEOMETRIC CONTROL OF A BINOCULAR HEAD},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={183-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001628001830188},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - GEOMETRIC CONTROL OF A BINOCULAR HEAD
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Bayro-Corrochano, E.
AU - Zamora-Esquivel, J.
PY - 2007
SP - 183
EP - 188
DO - 10.5220/0001628001830188
PB - SciTePress