Experimental evaluations of approaching hand/eye-vergence visual servoing

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

研究成果査読

抄録

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.

本文言語English
ページ(範囲)878-887
ページ数10
ジャーナルJournal of Advanced Computational Intelligence and Intelligent Informatics
15
7
DOI
出版ステータスPublished - 9月 2011
外部発表はい

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • コンピュータ ビジョンおよびパターン認識
  • 人工知能

フィンガープリント

「Experimental evaluations of approaching hand/eye-vergence visual servoing」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル