NDLI: Jacobian Learning Methods for Tasks Sequencing in Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Mansard, N. Lopes, M. Santos-Victor, J. Chaumette, F.
Copyright Year	2006
Description	Author affiliation: IRISA-INRIA, Rennes (Mansard, N.)
Abstract	In this paper, the coupling between Jacobian learning and task sequencing through the redundancy approach is studied. It is well known that visual servoing is robust to modeling errors in the Jacobian matrices. This justifies why Jacobian estimation does not usually degrade the system convergence. However, we show that this is not true any more when the redundancy formalism is used. In this case the Jacobian matrix is also necessary to compute projection operators for task decomposition, which is quite sensitive to errors. We show that learning improves the servoing performance, when task sequencing is used. Conversely, sequencing improves the convergence of learning, especially for tasks involving several degrees of freedom. Eye-in-hand and eye-to-hand experiments have been performed on two robots with six degrees of freedom
Starting Page	4284
Ending Page	4290
File Size	940567
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281958
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Learning systems Visual servoing Robustness Redundancy Calibration Robot sensing systems Robot vision systems Cameras Convergence
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in