Robotic Adaptive Impedance Control Based On Visual Guidance

Abstract

Abstract-Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images，and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out．Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector.

Structural Desigh and Motion Analysis of Universal Mobile Quadruped Robot

“…However, in terms of the current development of quadruped robots and considering the simplification of control and structure in bionics design, domestic robot designers tend to simplify joints, which leads to unstable and inflexible motion of quadruped robots. Designers hope to design quadruped robots which can be simply controlled and stably and flexibly move with less degree of freedom [6,7].…”