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 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.
| Original language | English |
|---|---|
| Title of host publication | 3rd International Symposium on Test Automation and Instrumentation, ISTAI 2010 |
| Publisher | International Symposium on Test Automation and Instrumentation, ISTAI 2010 |
| Pages | 829-832 |
| Number of pages | 4 |
| Publication status | Published - 2010 |
| Externally published | Yes |
| Event | 3rd International Symposium on Test Automation and Instrumentation, ISTAI 2010 - Xiamen, China Duration: May 22 2010 → May 25 2010 |
Other
| Other | 3rd International Symposium on Test Automation and Instrumentation, ISTAI 2010 |
|---|---|
| Country | China |
| City | Xiamen |
| Period | 5/22/10 → 5/25/10 |
Fingerprint
Keywords
- Approaching visual servoing
- Dual control system
- Eye-vergence
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Approaching visual servoing by hand & eye-vergence dual control system. / Song, Wei; Minami, Mamoru; Yu, Fujia.
3rd International Symposium on Test Automation and Instrumentation, ISTAI 2010. International Symposium on Test Automation and Instrumentation, ISTAI 2010, 2010. p. 829-832.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Approaching visual servoing by hand & eye-vergence dual control system
AU - Song, Wei
AU - Minami, Mamoru
AU - Yu, Fujia
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Approaching visual servoing
KW - Dual control system
KW - Eye-vergence
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UR - http://www.scopus.com/inward/citedby.url?scp=84900023515&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84900023515
SP - 829
EP - 832
BT - 3rd International Symposium on Test Automation and Instrumentation, ISTAI 2010
PB - International Symposium on Test Automation and Instrumentation, ISTAI 2010
ER -