TY - GEN
T1 - Design and Control of an Aquatic Robot with RGB-D Sensor
AU - Nurmanov, Madi
AU - Ishuov, Timur
AU - Dukenderov, Azim
AU - Folgheraiter, Michele
N1 - Funding Information:
ACKNOWLEDGMENT This work was conducted within the project ”Development of an Intrinsically Safe Actuation System with Adap- tive Neuromorphic Control for Humanoid Robotics Application” supported by Nazarbayev University under the Faculty Development Competitive Research Grants Program Award #021220FD0551.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Bio-inspired robotics is a relatively new field of engineering, which aims at mimicking living organisms for various applications. It focuses on building autonomous machines that can be operated in remote, inaccessible or dangerous environments, where the presence of humans or other systems is not possible. The main goal of this work is to develop a reactive control system architecture for an aquatic robot based on the feedback acquired from a Red Green Blue-Depth (RGB-D) camera to navigate and plan the path efficiently. The proposed solution is based on image segmentation and distance estimation using the depth data. This data is then imputed to a small neural network that implements a low-level reflex controller that governs the robot's body curvature in order to alter it's trajectory. The so controlled robot exhibits different behaviors like avoid obstacles in an aquatic environment and detect energy sources. The design of the aquatic robot is introduced based on segments connected with two degrees of freedom joints moved by a tendons actuation system.
AB - Bio-inspired robotics is a relatively new field of engineering, which aims at mimicking living organisms for various applications. It focuses on building autonomous machines that can be operated in remote, inaccessible or dangerous environments, where the presence of humans or other systems is not possible. The main goal of this work is to develop a reactive control system architecture for an aquatic robot based on the feedback acquired from a Red Green Blue-Depth (RGB-D) camera to navigate and plan the path efficiently. The proposed solution is based on image segmentation and distance estimation using the depth data. This data is then imputed to a small neural network that implements a low-level reflex controller that governs the robot's body curvature in order to alter it's trajectory. The so controlled robot exhibits different behaviors like avoid obstacles in an aquatic environment and detect energy sources. The design of the aquatic robot is introduced based on segments connected with two degrees of freedom joints moved by a tendons actuation system.
KW - Aquatic Robot
KW - Bioinspired Robot
KW - Neuromorphic Control System
UR - http://www.scopus.com/inward/record.url?scp=85127573495&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85127573495&partnerID=8YFLogxK
U2 - 10.1109/ICARA55094.2022.9738533
DO - 10.1109/ICARA55094.2022.9738533
M3 - Conference contribution
AN - SCOPUS:85127573495
T3 - 2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022
SP - 21
EP - 26
BT - 2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Automation, Robotics and Applications, ICARA 2022
Y2 - 18 February 2022 through 20 February 2022
ER -
