{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T01:06:17Z","timestamp":1722992777191},"reference-count":8,"publisher":"Fuji Technology Press Ltd.","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Automation Technol.","IJAT"],"published-print":{"date-parts":[[2011,3,5]]},"abstract":"The authors have previously proposed foot tip control for quadruped robots using linear visual servoing (LVS) with a normal stereo camera. However, a normal stereo camera has a narrow field of view and is incapable of seeing all four legs simultaneously. Consequently, it has been a problem that the control of all the legs have required that the rotatation of the camera be controlled. This article proposes a method by which a stereo omnidirectional camera is provided at a position low on the body to control all four legs through LVS. In this article, we at first present a transformation equation from an omnidirectional image to a binocular visual space, and we develop a servo equation of LVS in which an omnidirectional image is used. Then, through simulation, we confirm trajectories with the LVS applied to foot tip control. We also conduct an experiment using TITAN-VIII<\/jats:italic> to demonstrate the efficacy of the proposed method.<\/jats:p>","DOI":"10.20965\/ijat.2011.p0241","type":"journal-article","created":{"date-parts":[[2016,4,14]],"date-time":"2016-04-14T02:04:36Z","timestamp":1460599476000},"page":"241-246","source":"Crossref","is-referenced-by-count":0,"title":["Full Leg Control of a Quadruped Robot Using Linear Visual Servoing with a Stereo Omnidirectional Camera"],"prefix":"10.20965","volume":"5","author":[{"given":"Yukinari","family":"Inoue","sequence":"first","affiliation":[]},{"name":"Noritsu Kouki Co. Ltd., 579-1 Umehara, Wakayama, Japan","sequence":"first","affiliation":[]},{"given":"Noriaki","family":"Maru","sequence":"additional","affiliation":[]},{"name":"Systems Engineering, Wakayama University, Sakaedani 930, Wakayama, Japan","sequence":"additional","affiliation":[]}],"member":"8550","published-online":{"date-parts":[[2011,3,5]]},"reference":[{"key":"key-10.20965\/ijat.2011.p0241-1","doi-asserted-by":"crossref","unstructured":"P. K. Allen, B. Yoshimi, and A. Timucenko, \u201cReal-time visual servoing,\u201d Proceedings of the 1991 IEEE\/RSJ International Conference on Robotics Automation, pp. 851-856, 1991.","DOI":"10.1109\/ROBOT.1991.131694"},{"key":"key-10.20965\/ijat.2011.p0241-2","doi-asserted-by":"crossref","unstructured":"A. J. Koivo and N. Houshangi, \u201cReal-time vision feedback for sevoing robotic manipulator with self-tuning controller,\u201d IEEE Trans. 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Asada, \u201cAdaptive Visual Servoing Controller with Feedforward Compensator without Knowledge of True Jacobian,\u201d Journal of the Robotics Society of Japan, Vol.14, No.2, pp. 159-165, 1996 (in Japanese).","DOI":"10.7210\/jrsj.14.313"},{"key":"key-10.20965\/ijat.2011.p0241-6","doi-asserted-by":"crossref","unstructured":"T. Mitsuda, N. Maru, K. Fujikawa, and F. Miyazaki, \u201cLinear Approximation of the Inverse Kinematics by using a Binocular Visual space,\u201d Journal of the Robotics Society of Japan, Vol.14, No.8, pp. 1145-1151, 1996 (in Japanese).","DOI":"10.7210\/jrsj.14.1145"},{"key":"key-10.20965\/ijat.2011.p0241-7","doi-asserted-by":"crossref","unstructured":"T. Mitsuda, N. Maru, and F. Miyazaki, \u201cBinocular visual servoing based on linear time-invariant mapping,\u201d Advanced Robotics, Vol.11, No.5, pp. 429-443, 1997.","DOI":"10.1163\/156855397X00146"},{"key":"key-10.20965\/ijat.2011.p0241-8","unstructured":"Y. Inoue and N. Maru, \u201cLeg Positioning Control of the Quadruped Robot by Linear Visual Servoing,\u201d Proc. of IEEE Int\u2019l Conf. on Intelligent Robots and Systems IROS, 2004 (CD-ROM)."}],"container-title":["International Journal of Automation Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.fujipress.jp\/main\/wp-content\/themes\/Fujipress\/phyosetsu.php?ppno=IJATE000500020028","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,15]],"date-time":"2017-06-15T23:08:28Z","timestamp":1497568108000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.fujipress.jp\/ijat\/au\/ijate000500020241"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,3,5]]},"references-count":8,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2011,3,5]]},"published-print":{"date-parts":[[2011,3,5]]}},"URL":"https:\/\/doi.org\/10.20965\/ijat.2011.p0241","relation":{},"ISSN":["1883-8022","1881-7629"],"issn-type":[{"type":"electronic","value":"1883-8022"},{"type":"print","value":"1881-7629"}],"subject":[],"published":{"date-parts":[[2011,3,5]]}}}