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Cheetah Head Stabilisation and Tracking Using Computer Vision and Inverse…
Cheetah Head Stabilisation and Tracking Using Computer Vision and Inverse Optimal Control
Head Stabilisation :speaking_head_in_silhouette:
Do other animals demonstrate this?
What are the limitations of current methods?
Humans?
Has it been applied to robotics?
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Feedback Control?
Computer Vision :eye: :computer:
Need a way to study cheetahs from a distance
Traditional motion-capture won't work, cheetahs are endangered and we can't put markers on them.
Markerless motion capture
Supervisors have done it before
AcinoSet
Relatively new and novel, never been done in MATLAB before me:)
Cheetah :smiley_cat:
Endangered
Hard to study
Need distance and can't interact
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Existing data from AcinoSet and Dr Shield's investigation
Amazing adaptations
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Vestibular system main sensor
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Optimal Control (OC) :checkered_flag:
Trajectory Optimisation
Known trajectory, what is the control?
Mathematical cost function
Consider analysis of isolated planes or variables?
INVERSE OC :recycle:
How do we compute this?
Why do we care about the inverse method?
Inverse implies we don't know how to control it.
We want to understand and identify control
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Robots :robot_face:
Why do we care about how a cheetah stabilises its head?
Tracking a reference (prey) is applicable to modern control and robotics
Agility and speed enhancements
Biomimicry
What is the influence of the project outcome on the robotics industry?
Control
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CV techniques
robust engineering
Stable sensors - like cheetah vestibular system
Online interactive version
LINK