Grasping a waving object for a humanoid robot using a biologically-inspired active vision system

被引：0
|
作者：
Peng, J [1 ]
Peters, A [1 ]
Ao, XY [1 ]
Srikaew, A [1 ]
机构：
[1] Vanderbilt Univ, Sch Engn, Dept EECS, Ctr Intelligent Syst, Nashville, TN 37235 USA
来源：
RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Grasping a waving object is a very useful behavior for a humanoid robot. This paper presents how a humanoid robot performs this behavior utilizing an active vision system., The gaze control of the active vision system is highly inspired by biological systems, and is implemented in four basic behaviors: saccade smooth pursuit, vergence, and vestibulo-ocular reflex. This gaze control method also simplifies the visual servoing task after waving motion is detected Waving motions are detected by optical flow with background motion detected by either motion histogram or phase correlation.
引用
收藏
页码：115 / 120
页数：6
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