Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 878-887 |
| Number of pages | 10 |
| Journal | Journal of Advanced Computational Intelligence and Intelligent Informatics |
| Volume | 15 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Sep 2011 |
Keywords
- 6-DoF
- Approach
- Eye-vergence
- Visual servoing
ASJC Scopus subject areas
- Human-Computer Interaction
- Computer Vision and Pattern Recognition
- Artificial Intelligence