Michael D. Kim and Jun Ueda, Realization of smooth pursuit for a quantized, compliant camera positioning system, IEEE Transactions on Robotics, 2018. This paper presents a discrete switching controller for a realization of smooth pursuit. The human eye can produce both rapid and smooth movements, positioned by muscles that are a collection of quantized flexible motor units. The proposed controller generates reduced switching by optimizing a series of discrete switching commands at each primitive in an open-loop manner. This study uses a camera positioner driven by quantized compliant actuators and aims to match the velocity of a target object, while images are being captured to avoid motion blur. [LINK IEEE Xplore]
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