Experimental evaluations of approaching hand/eye-vergence visual servoing

Fujia Yu, Wei Song, Mamoru Minami, Akira Yanou, Mingcong Deng

Research output: Contribution to journalArticlepeer-review


We focus on controlling a robot's end-effector to track a moving object meanwhile approaching an object with a desired tracking pose for grasping the object - a process we call Approaching Visual Servoing (AVS). AVS using binocular cameras requires inheritable eye-vergence to keep a target in camera images at the center of the camera frame because approaching motion narrows the camera's visual field or may even lose sight of the object. Experiments using our proposed hand and eye-vergence dual control involved full 6-degree-of-freedom AVS to a moving object by using a 7-link manipulator with a binocular camera, confirming the feasibility of hand and eye-vergence control.

Original languageEnglish
Pages (from-to)878-887
Number of pages10
JournalJournal of Advanced Computational Intelligence and Intelligent Informatics
Issue number7
Publication statusPublished - Sept 2011
Externally publishedYes


  • 6-DoF
  • Approach
  • Eye-vergence
  • Visual servoing

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence


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