On Visual Servoing to Improve Performance of Robotic Grasping

被引：6
|
作者：
Gridseth, Mona [1 ]
Jagersand, Martin [1 ]
Hertkorn, Katharina [2 ]
机构：
[1] Univ Alberta, Dept Comp Sci, Edmonton, AB, Canada
[2] DLR German Aerosp Ctr, Robot & Mechatron Inst, Wessling, Germany
来源：
2015 12TH CONFERENCE ON COMPUTER AND ROBOT VISION CRV 2015 | 2015年
关键词：
visual servoing; robotic grasping; shared autonomy;
D O I：
10.1109/CRV.2015.39
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We introduce image based visual servoing (IBVS) into a shared autonomy grasping system to improve its performance. Visual servoing is a technique that uses visual input to control a dynamic system, such as a robot. Autonomous grasp planning is used to calculate stable grasps to simplify the user control over a robot hand to 1 degree of freedom (DOF) open and close in contrast to controlling every finger. Visual servoing serves to increase the performance of completing the calculated grasp by using visual input to move some of the robot fingers to their grasp points. In this paper, we detail what we have accomplished, the challenges we have faced and what we have learned from them throughout the development of our system.
引用
收藏
页码：245 / 252
页数：8
相关论文
共 50 条
  • [1] Robotic grasping and assembly of screws based on visual servoing using point features
    Hao, Tiantian
    Xu, De
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2023, 129 (9-10): : 3979 - 3991
  • [2] Robotic grasping and alignment for small size components assembly based on visual servoing
    Ma, Yanqin
    Liu, Xilong
    Zhang, Juan
    Xu, De
    Zhang, Dapeng
    Wu, Wenrong
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2020, 106 (11-12): : 4827 - 4843
  • [3] Robotic grasping and alignment for small size components assembly based on visual servoing
    Yanqin Ma
    Xilong Liu
    Juan Zhang
    De Xu
    Dapeng Zhang
    Wenrong Wu
    [J]. The International Journal of Advanced Manufacturing Technology, 2020, 106 : 4827 - 4843
  • [4] Robotic grasping and assembly of screws based on visual servoing using point features
    Tiantian Hao
    De Xu
    [J]. The International Journal of Advanced Manufacturing Technology, 2023, 129 : 3979 - 3991
  • [5] Model based techniques for robotic servoing and grasping
    Kragic, D
    Christensen, HI
    [J]. 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 299 - 304
  • [6] Robotic Grasping Based on Efficient Tracking and Visual Servoing using Local Feature Descriptors
    La Tuan Anh
    Song, Jae-Bok
    [J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2012, 13 (03) : 387 - 393
  • [7] Robotic grasping based on efficient tracking and visual servoing using local feature descriptors
    Tuan La Anh
    Jae-Bok Song
    [J]. International Journal of Precision Engineering and Manufacturing, 2012, 13 : 387 - 393
  • [8] Visual Servoing for Humanoid Grasping and Manipulation Tasks
    Vahrenkamp, Nikolaus
    Wieland, Steven
    Azad, Pedram
    Gonzalez, David
    Asfour, Tamim
    Dillmann, Ruediger
    [J]. 2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 413 - 419
  • [9] Robotic visual servoing and robotic assembly tasks
    Nelson, BJ
    Papanikolopoulos, NP
    Khosla, PK
    [J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1996, 3 (02) : 23 - 31
  • [10] Dynamic visual servoing of robotic manipulators
    Gonçalves, PJS
    Pinto, JRC
    [J]. ETFA 2003: IEEE CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, VOL 2, PROCEEDINGS, 2003, : 560 - 565
12345