Controlled interaction with the cricket based on on-line pose estimation of mobile robot
Controlled interaction with the cricket based on on-line pose estimation of mobile robot
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DOI：
10.1109/robio.2013.6739652
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
K. Kawabata;H. Aonuma;K. Hosoda;Jianru Xue
中科院分区：
文献类型：
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作者：
K. Kawabata;H. Aonuma;K. Hosoda;Jianru Xue
本文描述了一种基于姿态估计控制微型移动机器人触发蟋蟀信息素行为的自动交互。在我们的开发系统中，引入了安装在蟋蟀头上的微型移动机器人Ecobe，作为与蟋蟀互动的物理代理。利用基于颜色跟踪的在线粒子滤波对蟋蟀和移动机器人的位置进行估计，并利用视觉处理对姿态进行估计。利用提取的信息和新设计的机器人行为算法，进行了蟋蟀与微型移动机器人交互的自动化实验试验。本文还报道了利用原型系统的实验结果。最后，将姿态估计应用于蟋蟀，并给出了该方法的基本试验结果。
This paper describes an automated interaction for triggering the cricket's pheromone behavior by controlling a micro mobile robot based on pose estimation. In our developing systems a micro mobile robot : Ecobe mounted a cricket s head is introduced as a physical agent to interact with the cricket. Both of location of the cricket and mobile robot is estimated by on-line particle filter based color tracking and the pose estimation is also done by utilizing visual processing. By utilizing extracted information and novel designed robot's behavior algorithm, automated experimental trials in interaction between a cricket and a micro mobile robot has been done. Experimental results by utilizing our prototype system are also reported in this paper. Finally, pose estimation was also applied to the cricket and we show the result of fundamental trial of that.