Reaching and Grasping of Objects by Humanoid Robots through Visual Servoing

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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 languageEnglish
Title of host publicationHaptics: Science, Technology, and Applications
Number of pages13
ISBN (Electronic)9783319933993
ISBN (Print)9783319933986
Publication statusPublished - 6 Jun 2018
EventEurohaptics 2018 - Pisa, Italy
Duration: 13 Jun 201816 Jun 2018

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceEurohaptics 2018
Internet address


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