3-D hand & eye-vergence approaching visual servoing with Lyapunouv-stable pose tracking

Wei Song, Mamoru Minami, Fujia Yu, Yanan Zhang, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)

Abstract

In this paper, we focus on how to control the robot end-effector to track an object, meanwhile, to approach it with a suitable posture for grasping. We named it "Approaching Visual Servoing". A proposed hand & eye-vergence dual control system is used to perform Approaching Visual Servoing, aiming at quick eye-tracking and stable hand servoing and approaching. This idea stems from hammerhead shark whose eyes turn to gaze at the target prey to be suited to triangulation, enhancing the ability to measure precisely the distance to the prey for catching it. This animal's visual tracking includes motion control by visual servoing and triangular eye vergence. Moreover, a 3-D pose tracking method that combines "1-Step GA (genetic algorithm)" and hand-motion feedforword compensation is proposed. Our approach differs from known tracking methods using optimization based on Taylor expansion, for it allows the proposed method not to be annoyed by how to sneak out of local minima. A convergence in time domain - whether the 3-D pose tracking error decrease to zero in a successively input images by video rate -, is discussed and verified through Lyapunov method. Both Lyapunouv-stable pose tracking and Approaching Visual Servoing are confirmed by experiments using a 7-link manipulator installed with two mobile cameras.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages5210-5217
Number of pages8
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Song, W., Minami, M., Yu, F., Zhang, Y., & Yanou, A. (2011). 3-D hand & eye-vergence approaching visual servoing with Lyapunouv-stable pose tracking. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5210-5217). [5979749] https://doi.org/10.1109/ICRA.2011.5979749