Experimental Evaluations of Approaching Hand/Eye-Vergence Visual Servoing | Zendy

Fujia Yu | Zendy; Wei Song | Zendy; Mamoru Minami | Zendy; Akira Yanou | Zendy; Mingcong Deng | Zendy

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Experimental Evaluations of Approaching Hand/Eye-Vergence Visual Servoing

Author(s) -

Fujia Yu,

Wei Song,

Mamoru Minami,

Akira Yanou,

Mingcong Deng

Publication year - 2011

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2011.p0878

Subject(s) - computer vision , artificial intelligence , computer science , visual servoing , vergence (optics) , object (grammar) , focus (optics) , process (computing) , robot , physics , optics , operating system

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 eyevergence 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.

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