Approaching visual servoing by hand & eye-vergence dual control system

In this paper, we focus on how to control the robot's end-effector to track an object, meanwhile, to approach it with a suitable posture for grasping, which we named as "Approaching Visual Servoing". We propose a hand & eye-vergence dual control system to perform Approaching Visual Servoing. 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. Our proposed method includes two loops: an outer loop that direct a manipulator toward a target object and an inner loop that direct active motion of binocular camera for accurate and broad observation of the target object.