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.
|Title of host publication||Haptics: Science, Technology, and Applications|
|Number of pages||13|
|Publication status||Published - 6 Jun 2018|
|Event||Eurohaptics 2018 - Pisa, Italy|
Duration: 13 Jun 2018 → 16 Jun 2018
|Name||Lecture Notes in Computer Science|
|Period||13/06/18 → 16/06/18|