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Thursday, 2011-01-27
 
Department of Robotic Systems

Video Clips with Impedance-Based Control

 

This page shows video clips of experiments presented at different events. These experiments use the approach presented on our page of predictive sensor based control using a robot mounted camera. In contrast to the other pages with video clips which display the tracking of continuous lines, we here show the tracking of a sequence of straight lines which are connected by vertices. The execution of the vertices by the robot requires a kind of impedance-based control. For papers on this topic see "Impedance Based Smoothing for Visual Servoing along Edges" or "Is Impedance-Based Control Suitable for Trajectory Smoothing?".

We present our video clips in two versions, enabling a faster download and a continuous playback, or a better resolution including sound. In all cases we recommend to use the repeat option (STRG_T) of the player to get a continuous film instead of a very short video sequence. Details can be seen better using the slow motion option (STRG_SHIFT_S) or by pausing (STRG_P) the playback.

 

Circular path with changing orientation (explanation of the experiment)

   

 

Strong smoothing using the first method (explanation of the results)

   

Performance (note the different scales) (explanation of the lines)

Slight smoothing using the first method (explanation of the results)

  

Performance (note the different scales) (explanation of the lines)

 

Slight smoothing with the modified method (explanation of the results)

   

Performance (note the different scales) (explanation of the lines)

 

Straight path with big visual range (explanation of the experiment)

Modified method with slight smoothing (explanation of the results)

  small video

  normal video

 video 3 times slower

Performance (note the different scales) (explanation of the lines)


Modified method with stronger smoothing (explanation of the results)

  small video

  normal video

  video 3 times slower

Performance (note the different scales) (explanation of the lines)

 

Without impedance-based control (explanation of the results)

  small video

  normal video
  video 3 times slower

Performance (note the different scales) (explanation of the lines)



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