Hand & eye-vergence dual visual servoing to enhance observability and stability

Wei Song, Mamoru Minami

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

8 Citations (Scopus)

Abstract

In this paper, we propose a new two-way visual servoing method, named as hand & eye-vergence visual servoing. This idea stems from animal's evolution history, predator have evolved their eye positions to be at the front face and their 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 for conventional visual servoing that direct a manipulator toward a target object and an inner loop for active motion of binocular camera for accurate and broad observation of the target object. The effectiveness of the hand & eye-vergence visual servoing is evaluated through simulations incorporated with actual dynamics of 7-DoF robot on the view points of how the new idea improved the stability in visual servoing dynamics and the accuracy of hand pose.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages714-721
Number of pages8
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

Fingerprint

Visual servoing
Observability
Animals
Binoculars
Triangulation
Motion control
Manipulators
Cameras
Robots

ASJC Scopus subject areas

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

Cite this

Song, W., & Minami, M. (2009). Hand & eye-vergence dual visual servoing to enhance observability and stability. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 714-721). [5152695] https://doi.org/10.1109/ROBOT.2009.5152695

Hand & eye-vergence dual visual servoing to enhance observability and stability. / Song, Wei; Minami, Mamoru.

Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 714-721 5152695.

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

Song, W & Minami, M 2009, Hand & eye-vergence dual visual servoing to enhance observability and stability. in Proceedings - IEEE International Conference on Robotics and Automation., 5152695, pp. 714-721, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 5/12/09. https://doi.org/10.1109/ROBOT.2009.5152695
Song W, Minami M. Hand & eye-vergence dual visual servoing to enhance observability and stability. In Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 714-721. 5152695 https://doi.org/10.1109/ROBOT.2009.5152695
Song, Wei ; Minami, Mamoru. / Hand & eye-vergence dual visual servoing to enhance observability and stability. Proceedings - IEEE International Conference on Robotics and Automation. 2009. pp. 714-721
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