Approaching Visual Servoing by Hand & Eye-Vergence Dual Control System
In this paper, we focus cm how to control the robots end-effector to track an object, meanwhile, to approach it with a suitable posture for grasping, which we named as Approaching Visual Servoing. We propose a hand & eye-vergence dual control system to perform Approaching Visual Servoing. This idea stems from hammerhead shark whose 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 animals visual tracking includes motion control by visual servoing and triangular eye vergence. Our proposed method includes two loops: an outer loop that direct a manipulator toward a target object and an inner loop that direct active motion of binocular camera for accurate and broad observation of the target object.
Approaching Visual Servoing Eye-vergence Dual control system
Wei Song Mamoru Minami FujiaYu
Shanghai University,Shanghai 200444 China University of Fukui,Fukui 910-0017 Japan
国际会议
厦门
英文
829-832
2010-05-22（万方平台首次上网日期，不代表论文的发表时间）