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

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

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

1 Citation (Scopus)

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
Title of host publicationSCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
Pages956-962
Number of pages7
Publication statusPublished - 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

Fingerprint

Visual servoing
Cameras
Binoculars
Control systems
End effectors
Manipulators
Experiments
Robots

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. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems (pp. 956-962)

High tracking experimental performances by approaching hand/eye-vergence visual servoing. / Song, Wei; Minami, Mamoru; Yu, Fujia; Yanou, Akira; Deng, Mingcong.

SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 956-962.

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

Song, W, Minami, M, Yu, F, Yanou, A & Deng, M 2010, High tracking experimental performances by approaching hand/eye-vergence visual servoing. in SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. pp. 956-962, Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan, 12/8/10.
Song W, Minami M, Yu F, Yanou A, Deng M. High tracking experimental performances by approaching hand/eye-vergence visual servoing. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 956-962
Song, Wei ; Minami, Mamoru ; Yu, Fujia ; Yanou, Akira ; Deng, Mingcong. / High tracking experimental performances by approaching hand/eye-vergence visual servoing. SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. pp. 956-962
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