Steering by gazing: an efficient biomimetic control strategy for visually guided micro aerial vehicles

Authors:
Lubin Kerhuel;Stéphane Viollet;Nicolas Franceschini
Affiliations:
Biorobotics Laboratory, Institute of Movement Sciences, National Center for Scientific Research/University of the Mediterranean, Marseille Cedex 09, France;Biorobotics Laboratory, Institute of Movement Sciences, National Center for Scientific Research/University of the Mediterranean, Marseille Cedex 09, France;Biorobotics Laboratory, Institute of Movement Sciences, National Center for Scientific Research/University of the Mediterranean, Marseille Cedex 09, France
Venue:
IEEE Transactions on Robotics
Year:
2010

Citing 12
Cited 0

Neurally inspired plasticity in oculomotor processes

Advances in neural information processing systems 2
Visual navigation in a robot using zig-zag behavior

NIPS '97 Proceedings of the 1997 conference on Advances in neural information processing systems 10
Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks

Neural Networks
Digital Control of Dynamic Systems

Digital Control of Dynamic Systems
Classical Feedback Control with MATLAB

Classical Feedback Control with MATLAB
Hard Disk Drive Servo Systems (Advances in Industrial Control)

Hard Disk Drive Servo Systems (Advances in Industrial Control)
Bioinspired velocity control of fast gaze shifts on a robotic anthropomorphic head

Autonomous Robots
Compact image stabilization system using camera posture information

Journal of Field Robotics
Reference frames for animate vision

IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Implementation of wide-field integration of optic flow for autonomous quadrotor navigation

Autonomous Robots
Vision-based control of near-obstacle flight

Autonomous Robots
Active stabilization of images acquired on a walking robotic platform

ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II

Quantified Score

Hi-index	0.00

Visualization

Abstract

OSCAR II is a twin-engine aerial demonstrator equipped with a monocular visual system, which manages to keep its gaze and its heading steadily fixed on a target (i.e., a dark edge or a bar) in spite of the severe random perturbations applied to its body via a ducted fan. The tethered robot stabilizes its gaze on the basis of two oculomotor reflexes (ORs) inspired by studies on animals: 1) a visual-fixation reflex (VFR) and 2) a vestibulo-ocular reflex (VOR). One of the key features of this robot is that the eye is decoupledmechanically from the body about the vertical (i.e., yaw) axis. To meet the conflicting requirements of high accuracy and fast ocular responses, a miniature (2.4 g) voice-coil motor (VCM) was used, which enables the eye tomake a change of orientation with an unusually short rise time (19 ms). The robot, which was equipped with a high-bandwidth (7 Hz) "VOR," which is based on an inertial microrate gyro, is capable of accurate visual fixation as long as there is light. The robot is also able to pursue a moving target in the presence of erratic gusts of wind. Here, we present the two interdependent control schemes driving the eye in the robot and the robot in space with no knowledge of the robot's angular position. This "steering-by-gazing" control strategy, which is implemented on this lightweight (100 g) miniature aerial robot, demonstrates the effectiveness of this biomimetic visual/inertial heading control strategy.