Abstract
Visual servoing allows to control the motion of a robot using information from its visual sensors to achieve manipulation tasks. In this work we design and implement a robust visual servoing framework for reaching and grasping behaviours for a humanoid service robot with limited control capabilities. Our approach successfully exploits a 5-degrees of freedom manipulator, overcoming the control limitations of the robot while avoiding singularities and stereo vision techniques. Using a single camera, we combine a marker-less model based tracker for the target object, a pattern tracking for the end-effector to deal with the robot’s inaccurate kinematics, and alternate pose based visual servo technique with eye-in-hand and eye-to-hand configurations to achieve a fully functional grasping system. The overall method shows better results for grasping than conventional motion planing and simple inverse kinematics techniques for this robotic morphology, demonstrating a 48.8% of increment in the grasping success rate.
Original language | English |
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Title of host publication | Haptics: Science, Technology, and Applications |
Publisher | Springer |
Pages | 353-365 |
Number of pages | 13 |
ISBN (Electronic) | 9783319933993 |
ISBN (Print) | 9783319933986 |
DOIs | |
Publication status | Published - 6 Jun 2018 |
Event | Eurohaptics 2018 - Pisa, Italy Duration: 13 Jun 2018 → 16 Jun 2018 https://eurohaptics2018.org/ |
Publication series
Name | Lecture Notes in Computer Science |
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Publisher | Springer |
Volume | 10894 |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | Eurohaptics 2018 |
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Country/Territory | Italy |
City | Pisa |
Period | 13/06/18 → 16/06/18 |
Internet address |