Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip

Shiuh Jer Huang; Chie Yi Wu

doi:10.4028/www.scientific.net/SSP.147-149.243

Paper Titles

Dependency of the Quality of the Active Vibration Damping on the Sensor and Actuator Location – Simulation and Experiment
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Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes
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Flight Simulator as a Tool for Flight Control System Synthesis and Handling Qualities Research
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Fuzzy Logic Controller for Position Actuator SMA
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Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip
p.243

Hybrid Supervisory Control for Biomechatronic Systems for Non-Invasive Surgery
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Identification of the Inertia of Masses Flowing Water through the Pipes in Water Power Plants
p.258

LuGre Friction Model Estimation of a Precision Table and Sliding Mode Control Design
p.264

Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator
p.272

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Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip

Abstract:

A stereo visual servo robotic system is developed on Nios II SOPC developing board with ALTERA FPGA chip to manipulate a retrofitted Mitsubishi RV-M2 robotic system. The 3-D position information between the target and stereo vision system can be extracted by low cost CMOS stereo vision algorithm first. Then, the relative motion between the robotic end-effector and the target can be planned to guide robot arm to catch the object. The fuzzy sliding mode control algorithm is employed to monitor the trajectory motion of each joint. The experimental results show that this visual servo robotic system can track and catch a moving target in 3D space and execute some interaction functions with player.