[Show abstract][Hide abstract] ABSTRACT: An ideal tentacle manipulator is a non-conventional robotic arm with an infinite mobility. It has the capability of taking sophisticated shapes and of achieving any position and orientation in a 3D space. A tentacle manipulator is a hyper redundant or hyper degree of freedom manipulator. Hyper redundant robots produce changes of configuration using a continuous backbone made of sections which bend. The lack of no discrete joints is a serious and difficult issue in the determination of the robot's shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics. A tentacle arm prototype was designed and the practical realization is now running. The control system is an image based visual servo control where the error control signal is defined directly in terms of image feature parameters.
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, Munich, Germany - Parallel to AUTOMATICA; 01/2010
[Show abstract][Hide abstract] ABSTRACT: A kinematical 3D model for hyper-redundant robots is created. A development environment for control applications for tentacle robots is created. This environment includes a personal library of mathematical functions typical for tentacle robots, a complex graphical engine to represent realist animations to illustrate the plane motion of the hyper-redundant robots, and a library of programming functions for creating, accessing, modification and destroying the instances of the different implemented classes. The advantages of such an application are numerous, the costs reduction and educational use of the simulator being the most important.
Proceedings of the 4th WSEAS/IASME international conference on Dynamical systems and control; 10/2008
[Show abstract][Hide abstract] ABSTRACT: In this presentation we discuss methods for 3D reconstruction from a single 2D shot using multiple stripe line projection. We also present 3D recognition strategies with an application example to 3D face recognition. The technology has been developed ...
Proceedings of the 8th conference on Signal processing, computational geometry and artificial vision; 08/2008
[Show abstract][Hide abstract] ABSTRACT: This paper presents a project dealing with visual servoing applications. A general structure for the software system was developed starting from the ViSP architecture model (1). Software modules were already implemented in beta versions: computer graphics procedures for robotic applications visualization and simulation and image processing procedures for visual servoing applications. Fuzzy algorithms and methods were used in order to support the implementation of the image processing procedures. The project is financed by Romanian National University Research Council CNCSIS.