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 |
| Publication status | Published - Sep 2011 |
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Keywords
- 6-DoF
- Approach
- Eye-vergence
- Visual servoing
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
Experimental evaluations of approaching hand/eye-vergence visual servoing. / Yu, Fujia; Song, Wei; Minami, Mamoru; Yanou, Akira; Deng, Mingcong.
In: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 15, No. 7, 09.2011, p. 878-887.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Experimental evaluations of approaching hand/eye-vergence visual servoing
AU - Yu, Fujia
AU - Song, Wei
AU - Minami, Mamoru
AU - Yanou, Akira
AU - Deng, Mingcong
PY - 2011/9
Y1 - 2011/9
N2 - 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.
AB - 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.
KW - 6-DoF
KW - Approach
KW - Eye-vergence
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=80053032919&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053032919&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:80053032919
VL - 15
SP - 878
EP - 887
JO - Journal of Advanced Computational Intelligence and Intelligent Informatics
JF - Journal of Advanced Computational Intelligence and Intelligent Informatics
SN - 1343-0130
IS - 7
ER -