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Object tracking and following six-legged robot system using Kinect camera based on Kalman filter and backstepping controller

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Abstract

This paper proposes an object tracking and following six-legged robot (6LR) system that uses a Kinect camera based on Kalman filter and backstepping control method. To achieve this task, the following steps are executed. First, the 6LR is developed with several interconnected devices, such as servomotors, a microcontroller, Bluetooth, and so on. The Kinect camera is installed on the 6LR to perform image processing. Second, the kinematic modeling of the 6LR is presented. Third, a blue-colored candidate object is detected by the Kinect camera through a color-based object detection method, and the position coordinate of the detected object inside the RGB image frames is obtained. The real position coordinate of the detected object (in mm) is obtained by using simple trigonometry and Kinect depth data. Fourth, Kalman filter algorithm is used to estimate the real position coordinate and velocity coordinate of the moving candidate object. Fifth, backstepping method using Lyapunov function is adopted to design a controller for the 6LR to perform the object-following task. Finally, the experimental results are presented to verify the effectiveness and performance of the proposed control method. The results show that the 6LR can successfully follow the moving candidate object with the designed controller.

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Author information

Authors and Affiliations

  1. Department of Mechanical Design Engineering, Pukyong National University, Busan, 48547, Korea

    Amruta Vinod Gulalkari, Pandu Sandi Pratama, Giang Hoang, Dae Hwan Kim & Sang Bong Kim

  2. Technology Center for Offshore Plant Industry, Korea Research Institute of Ships and Ocean Engineering, Daejon, Korea

    Bong Huan Jun

Authors
  1. Amruta Vinod Gulalkari
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  2. Pandu Sandi Pratama
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  3. Giang Hoang
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  4. Dae Hwan Kim
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  5. Bong Huan Jun
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  6. Sang Bong Kim
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Corresponding author

Correspondence to Sang Bong Kim.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Amruta Vinod Gulalkari was born in India on November, 1988. She received her B.S. degree in Dept. of Electronics and Telecommunication, SSGB Amravati University, Amravati, India, in 2010. She then received her M.S. degree in the Dept. of Interdisciplinary Program of Mechatronics Engineering, Pukyong National University, Busan, Korea, in 2015. Her research interests include legged robots, mobile robot control, and image processing.

Pandu Sandi Pratama was born in Indonesia on November, 1986. He received his B.S. degree in Electrical Engineering Dept. of Diponegoro University, Indonesia, in 2011. He then received his M.S degree in the Interdisciplinary Program of Mechatronics Engineering Dept., Pukyong National University, Busan, Korea, in 2013. He then received a Ph.D. student in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea in 2015. His fields of interests are computer science, robotics, and mobile robots.

Hoang Giang was born in Vietnam on April, 1984. He received his B.S. degree in Dept. of Computer Science, Hochiminh City University of Technology, Vietnam in 2009. He then received his M.S degree in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea, in 2012. He received a Ph.D. degree in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea, in 2014. His fields of interests are computer science, robotics, and mobile robots.

Dae Hwan Kim was born in Korea on March, 1982. He received his B.S. degree in Electrical Engineering from Chosun University, Kwangju, Korea, in 2008. He then received his M.S and Ph.D degrees in Mechanical engineering from the Pukyong National University, Busan, Korea, in 2009 and 2015, respectively. His fields of interests are robust control, combustion engineering control, and mobile robot control.

Bong-Huan Jun was born in Korea on January 1970. He received his B.S. and M.S. degrees in mechanical engineering from the Pukyong National University, Busan, Korea, in 1994 and 1996, respectively, and his Ph.D. degree in the Department of Mechatronics Engineering, Chungnam National University, Daejeon, Korea, in 2006. He joined the Ocean Engineering Department of Korea Ocean Research and Development Institute (KORDI) in 1996 as a Research Scientist. His research interests include navigation guidance and control of underwater vehicles as well as the analysis and motion planning of underwater manipulators. Dr. Jun is a member of the Ocean Engineering Society of IEEE, Korea Ocean Engineering Society (KSOE), the Institute of Control, Robotics and Systems (ICROS), and the Korea Robotics Society.

Sang Bong Kim was born in Korea on August 6, 1955. He received his B.S. and M.S. degrees from National Fisheries University of Busan, Korea, in 1978 and 1980. He received his Ph.D. degree in Tokyo Institute of Technology, Japan, in 1988. He is a Professor of the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His research interests include robust control, biomechanical control, and mobile robot control.

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Gulalkari, A.V., Pratama, P.S., Hoang, G. et al. Object tracking and following six-legged robot system using Kinect camera based on Kalman filter and backstepping controller. J Mech Sci Technol 29, 5425–5436 (2015). https://doi.org/10.1007/s12206-015-1144-4

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  • DOI: https://doi.org/10.1007/s12206-015-1144-4

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