title: Note: high frequency vibration rejection using a linear shaft actuator-based image stabilizing device via vestibulo-ocular reflex adaptation control method.
abstract: In mobile robotics, obtaining stable image of a mounted camera is crucial for operating a mobile system to complete given tasks. This note presents the development of a high-speed image stabilizing device using linear shaft actuator, and a new image stabilization method inspired by human gaze stabilization process known as vestibulo-ocular reflex (VOR). In the proposed control, the reference is adaptively adjusted by the VOR adaptation control to reject residual vibration of a camera as the VOR gain converges to optimal state. Through experiments on a pneumatic vibrator, it will be shown that the proposed system is capable of stabilizing 10 Hz platform vibration, which shows potential applicability of the device to a high-speed mobile robot.
authors.affiliation: Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.
authors.forename: Doo-Yeol
authors.initials: DY
authors.lastname: Koh
authors.forename: Young-Kook
authors.initials: YK
authors.lastname: Kim
authors.forename: Kyung-Soo
authors.initials: KS
authors.lastname: Kim
authors.forename: Soohyun
authors.initials: S
authors.lastname: Kim