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Two-dimensional position and orientation tracking of micro-robot with a webcam

Cited 0 time in Web of Science Cited 1 time in Scopus
Authors

Kim, Jinsoo; Jung, Chan-Yul; Kim, Seung-Jong

Issue Date
2013
Publisher
IEEE
Citation
2013 44th International Symposium on Robotics, ISR 2013
Abstract
This paper proposes a 2D position and orientation tracking method of a micro-robot based on vision recognition. Position tracking is easy and simple, but the orientation of the micro-robot is hard to correctly recognize because the micro-robot is small and symmetrical. Since the orientation of the micro-robot is closely related to propulsion direction, it is necessary to recognize the orientation to accurately control the micro-robot. In this paper, the vision-based recognition result for orientation is compensated by expecting the direction of magnetic field from the Helmholtz coil currents. © 2013 IEEE.
URI
https://hdl.handle.net/10371/203602
DOI
https://doi.org/10.1109/ISR.2013.6695654
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  • College of Engineering
  • Department of Electrical and Computer Engineering
Research Area Biomechanics, Exoskeleton, Robotics, 로보틱스, 생체역학, 엑소스켈레톤

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