 |
Book sections
Decoupling the Eye: A Key toward a Robust Hovering for Sighted Aerial Robots
Abstract : Inspired by natural visual systems where gaze stabilization is at a premium, we simulated an aerial robot with a decoupled eye to achieve more robust hovering above a ground target despite strong lateral and rotational disturbances. In this paper, two different robots are compared for the same disturbances and displacements. The first robot is equipped with a fixed eye featuring a large field-of-view (FOV) and the second robot is endowed with a decoupled eye featuring a small FOV (about ±5°). Even if this mechanical decoupling increases the mechanical complexity of the robot, this study demonstrates that disturbances are rejected faster and the computational complexity is clearly decreased. Thanks to bio-inspired visuo-motor reflexes, the decoupled eye robot is able to hold its gaze locked onto a distant target and to reject strong disturbances by profiting of the small inertia of the decoupled eye.
Cited literature [32 references]
https://hal.archives-ouvertes.fr/hal-00819744
Contributor : Nicolas Marchand <>
Submitted on : Thursday, May 2, 2013 - 2:46:43 PM
Last modification on : Monday, December 14, 2020 - 3:35:29 PM
Long-term archiving on: : Tuesday, April 4, 2017 - 2:36:18 AM
Contributor : Nicolas Marchand <>
Submitted on : Thursday, May 2, 2013 - 2:46:43 PM
Last modification on : Monday, December 14, 2020 - 3:35:29 PM
Long-term archiving on: : Tuesday, April 4, 2017 - 2:36:18 AM
File
SpringerGNC2013.pdf
Files produced by the author(s)