Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor

Augustin Manecy 1 Julien Diperi 2 Marc Boyron 2 Nicolas Marchand 3 Stéphane Viollet 2
2 Biorobotique
ISM - Institut des Sciences du Mouvement Etienne Jules Marey
3 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
Abstract : This paper presents a new minimalist bio-inspired artificial eye of only 24 pixels, able to locate accurately a target placed in its small field of view (10°). The eye is mounted on a very light custom-made gimbal system which makes the eye able to track faithfully a moving target. We have shown here, that our gimbal eye can be embedded onboard a small quadrotor to achieve accurate hovering with respect to a target placed onto the ground. Our aiborne oculomotor system was enhanced with a bio-inspired reflexe in charge to lock efficiently the robot’s gaze onto a target and compensate for the robot’s rotations and disturbances. The use of very few pixels allowed to implement a visual processing algorithm at a refresh rate as high as such as 400 Hz. This high refresh rate coupled to a very fast control of the eye’s orientation allowed the robot to track efficiently a target moving at a speed up to 200°/s.
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Communication dans un congrès
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3212-3218, 2016, Proceedings of 2016 IEEE International Conference on Robotics and Automation. 〈http://www.icra2016.org/〉. 〈10.1109/ICRA.2016.7487490〉
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Augustin Manecy, Julien Diperi, Marc Boyron, Nicolas Marchand, Stéphane Viollet. Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3212-3218, 2016, Proceedings of 2016 IEEE International Conference on Robotics and Automation. 〈http://www.icra2016.org/〉. 〈10.1109/ICRA.2016.7487490〉. 〈hal-01261044〉

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