NDLI: 3-D hand & eye-vergence approaching visual servoing with Lyapunouv-stable pose tracking

Content Provider	IEEE Xplore Digital Library
Author	Wei Song Minami, M. Yu, F. Zhang, Y. Yanou, A.
Copyright Year	2011
Description	Author affiliation: School of Mechatronics Engineering and Automation, Shanghai University, 149 Yanchang Road, 200072, China (Wei Song; Zhang, Y.) \|\| Graduate School of Natural Science and Technology, Okayama University, Okayama-shi, 700-8530, Japan (Minami, M.; Yu, F.; Yanou, A.)
Abstract	In this paper, we focus on how to control the robot end-effector to track an object, meanwhile, to approach it with a suitable posture for grasping. We named it “Approaching Visual Servoing”. A proposed hand & eye-vergence dual control system is used to perform Approaching Visual Servoing, aiming at quick eye-tracking and stable hand servoing and approaching. 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 animal's visual tracking includes motion control by visual servoing and triangular eye vergence. Moreover, a 3-D pose tracking method that combines “1-Step GA (genetic algorithm)” and hand-motion feedforword compensation is proposed. Our approach differs from known tracking methods using optimization based on Taylor expansion, for it allows the proposed method not to be annoyed by how to sneak out of local minima. A convergence in time domain - whether the 3-D pose tracking error decrease to zero in a successively input images by video rate -, is discussed and verified through Lyapunov method. Both Lyapunouv-stable pose tracking and Approaching Visual Servoing are confirmed by experiments using a 7-link manipulator installed with two mobile cameras.
Starting Page	5210
Ending Page	5217
File Size	1200020
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979749
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Cameras Visual servoing Manipulator dynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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