Symmetric Kullback-Leibler Metric Based Tracking Behaviors for Bioinspired Robotic Eyes

Joint Authors

Liu, Hengli
Luo, Jun
Wu, Peng
Xie, Shaorong
Li, Hengyu

Source

Applied Bionics and Biomechanics

Issue

Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2015-11-11

Country of Publication

Egypt

No. of Pages

11

Main Subjects

Biology

Abstract EN

A symmetric Kullback-Leibler metric based tracking system, capable of tracking moving targets, is presented for a bionic spherical parallel mechanism to minimize a tracking error function to simulate smooth pursuit of human eyes.

More specifically, we propose a real-time moving target tracking algorithm which utilizes spatial histograms taking into account symmetric Kullback-Leibler metric.

In the proposed algorithm, the key spatial histograms are extracted and taken into particle filtering framework.

Once the target is identified, an image-based control scheme is implemented to drive bionic spherical parallel mechanism such that the identified target is to be tracked at the center of the captured images.

Meanwhile, the robot motion information is fed forward to develop an adaptive smooth tracking controller inspired by the Vestibuloocular Reflex mechanism.

The proposed tracking system is designed to make the robot track dynamic objects when the robot travels through transmittable terrains, especially bumpy environment.

To perform bumpy-resist capability under the condition of violent attitude variation when the robot works in the bumpy environment mentioned, experimental results demonstrate the effectiveness and robustness of our bioinspired tracking system using bionic spherical parallel mechanism inspired by head-eye coordination.

American Psychological Association (APA)

Liu, Hengli& Luo, Jun& Wu, Peng& Xie, Shaorong& Li, Hengyu. 2015. Symmetric Kullback-Leibler Metric Based Tracking Behaviors for Bioinspired Robotic Eyes. Applied Bionics and Biomechanics،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1052193

Modern Language Association (MLA)

Liu, Hengli…[et al.]. Symmetric Kullback-Leibler Metric Based Tracking Behaviors for Bioinspired Robotic Eyes. Applied Bionics and Biomechanics No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1052193

American Medical Association (AMA)

Liu, Hengli& Luo, Jun& Wu, Peng& Xie, Shaorong& Li, Hengyu. Symmetric Kullback-Leibler Metric Based Tracking Behaviors for Bioinspired Robotic Eyes. Applied Bionics and Biomechanics. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1052193

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1052193