Robot Motion Control with Compressive Feedback
Congjian Li, Song Wang, Siyu Wang, Sheng Bi, Yisheng Guan, Ning Xi
Abstract
Robot motion control aims to generate control inputs for a robotic system to track a planned trajectory. Feedback provided by sensors plays an essential role in motion control by improving system performance when external disturbances and/or initial errors exist. However, feedback signals, such as images are often of a large size, which imposes a heavy computational burden on the system. In this paper, a new robot motion control scheme is proposed based on compressive feedback to improve feedback rate. The controller is designed in non-vector space using compressive feedback. As an application, visual servoing is formulated under the proposed framework by considering a feedback image as a set, instead of a traditional feature vector. Experiments are conducted to validate the proposed scheme.
BibTeX
@inproceedings{icra2021_robotmotioncontr,
title = {Robot Motion Control with Compressive Feedback},
author = {Congjian Li and Song Wang and Siyu Wang and Sheng Bi and Yisheng Guan and Ning Xi},
booktitle = {ICRA 2021},
year = {2021}
}