Abstract
In this paper, we focus on how to control the robot's end-effector to track an object, meanwhile, to approach it with a desired posture for grasping, which we named as "Approaching Visual Servoing (AVS)." AVS with binocular cameras needs inheritably eye-vergence motion to keep cameras' sight against the target since approaching motion makes the cameras sight narrow or losing the object. We propose a hand & eye-vergence dual control system to perform AVS. The experiment of full 6-DoF Approaching Visual Servoing experiments to a moving object by a 7-link manipulator installed with a binocular camera system, confirmed the ability of Hand & Eye-vergence control system.
| Original language | English |
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| Pages | 956-962 |
| Number of pages | 7 |
| Publication status | Published - Dec 1 2010 |
| Event | Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan Duration: Dec 8 2010 → Dec 12 2010 |
Other
| Other | Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 |
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| Country/Territory | Japan |
| City | Okayama |
| Period | 12/8/10 → 12/12/10 |
ASJC Scopus subject areas
- Artificial Intelligence
- Information Systems