TRAJECTORY CONTROL OF THE WALKING ROBOT WITH THE USE OF VIDEOCAMERA Journal of instrument engineering

DOI 10.17586/0021-3454-2017-60-9-875-881
UDC 681.51

TRAJECTORY CONTROL OF THE WALKING ROBOT WITH THE USE OF VIDEOCAMERA

D. N. Bazylev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate

D. D. Ibraev
ITMO University; student

A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Associate professor; Scientific Researcher

K. A. Zimenko
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior Scientific Researcher

A. S. Kremlev
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor

P. A. Popchenko
ITMO University, Department of Computer Science and Control Systems; Student

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Abstract. A control system of walking robot Darwin-OP moving along a given trajectory is presented. The robot trajectory is a red line recognized by built-in videocamera. The control system consists of PD controller for angular positions of the robot head (for tracking the desired trajectory) and PD controllers for the longitudinal and transverse velocities of the robot. Evaluation of the effectiveness of the proposed solution is carried out by a third-party videocamera mounted above the robot. Experimental results demonstrate a small enough deviation from the desired trajectory.

Keywords: line tracking, walking robot, machine vision

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