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dc.contributor.authorTsai, Chi-Yien_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2014-12-08T15:24:56Z-
dc.date.available2014-12-08T15:24:56Z-
dc.date.issued2006en_US
dc.identifier.isbn978-1-4244-0258-8en_US
dc.identifier.urihttp://hdl.handle.net/11536/17309-
dc.identifier.urihttp://dx.doi.org/10.1109/IROS.2006.282505en_US
dc.description.abstractThis paper presents a novel face tracking control scheme for human-robot interaction control in image plane. This control scheme is robust to the velocity quantization error in practical implementation. A visual tracking controller is designed for ensuring global asymptotic stability of the closed-loop visual tracking system based on an error-state control model in image plane. In order to overcome the quantization uncertainty encountered in practical systems, an image-based robust control law is proposed to guarantee the stability of the robotic control system based on Lyapunov theory. This design provides a useful solution for smooth visual tracking control of slow-motion robots in a home setting. Simulation and Experimental results verify the effectiveness of the proposed visual tracking control scheme, both in terms of tracking performance and system convergence.en_US
dc.language.isoen_USen_US
dc.subjecthuman-robot interactionen_US
dc.subjectvisual tracking controlen_US
dc.subjectinteraction controlen_US
dc.subjectreal-time face trackingen_US
dc.titleFace tracking interaction control of a nonholonomic mobile roboten_US
dc.typeProceedings Paperen_US
dc.identifier.doi10.1109/IROS.2006.282505en_US
dc.identifier.journal2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12en_US
dc.citation.spage3319en_US
dc.citation.epage3324en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000245452403076-
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