High tracking experimental performances by approaching hand/eye-vergence visual servoing

Wei Song, Mamoru Minami, Fujia Yu, Akira Yanou, Mingcong Deng

Research output: Contribution to conferencePaper

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 desired posture for grasping, which we named as "Approaching Visual Servoing (AVS)." AVS with binocular cameras needs inheritably eye-vergence motion to keep cameras' sight against the target since approaching motion makes the cameras sight narrow or losing the object. We propose a hand & eye-vergence dual control system to perform AVS. The experiment of full 6-DoF Approaching Visual Servoing experiments to a moving object by a 7-link manipulator installed with a binocular camera system, confirmed the ability of Hand & Eye-vergence control system.

Original languageEnglish
Pages956-962
Number of pages7
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Song, W., Minami, M., Yu, F., Yanou, A., & Deng, M. (2010). High tracking experimental performances by approaching hand/eye-vergence visual servoing. 956-962. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.