Paper Info
Title
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach.
Abstract
Existing gaze controllers for head-eye robots can only handle single fixation points. Here, a generic controller for head-eye robots capable of executing simultaneous and prioritized fixation trajectories in Cartesian space is presented. This enables the specification of multiple operational-space behaviors with priority such that the execution of a low priority head orientation task does not disturb the satisfaction of a higher prioritized eye gaze task. Through our approach, the head-eye robot inherently gains the biomimetic vestibulo-ocular reflex (VOR), which is the ability of gaze stabilization under self generated movements. The described controller utilizes recursive null space projections to encode joint limit constraints and task priorities. To handle the solution discontinuity that occurs when joint limit tasks are inserted or removed as a constraint, the Intermediate Desired Value (IDV) approach is applied. Experimental validation of the controlleru0027s properties is demonstrated with the Dreamer humanoid robot. Our contribution is on (1) the formulation of a desired gaze task as an operational space orientation task, (2) the application details of the IDV approach for the prioritized head-eye robot controller that can handle intermediate joint constraints, and (3) a minimum-jerk specification for behavior and trajectory generation in Cartesian space.
Year
Venue
Field
2018
arXiv: Robotics
Control theory,Kinematics,Gaze,Control theory,Joint constraints,Control engineering,Eye tracking,Engineering,Robot,Trajectory,Humanoid robot
DocType
Volume
Citations 
Journal
abs/1809.08750
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Steven Jens Jorgensen111.04
Orion Campbell242.18
Travis Llado351.22
Jaemin Lee462.94
Brandon Shang500.34
Luis Sentis657459.74