Paper Info
Title
Visual servoing for humanoid grasping and manipulation tasks.
Abstract
Using visual feedback to control the movement of the end-effector is a common approach for robust execution of robot movements in real-world scenarios. Over the years several visual servoing algorithms have been developed and implemented for various types of robot hardware. In this paper, we present a hybrid approach which combines visual estimations with kinematically determined orientations to control the movement of a humanoid arm. The approach has been evaluated with the humanoid robot ARMAR III using the stereo system of the active head for perception as well as the torso and arms equipped with five finger hands for actuation. We show how a robust visual perception is used to control complex robots without any hand-eye calibration. Furthermore, the robustness of the system is improved by estimating the hand position in case of failed visual hand tracking due to lightning artifacts or occlusions. The proposed control scheme is based on the fusion of the sensor channels for visual perception, force measurement and motor encoder data. The combination of these different data sources results in a reactive, visually guided control that allows the robot ARMAR-III to execute grasping tasks in a real-world scenario.
Year
DOI
Venue
2008
10.1109/ICHR.2008.4755985
Humanoids
Keywords
Field
DocType
end effectors,force control,force measurement,humanoid robots,motion control,optical tracking,robot vision,robust control,sensor fusion,stereo image processing,visual servoing,ARMAR III robot,end-effector,force measurement,hand position estimation,humanoid arm,humanoid grasping task,humanoid manipulation task,motor encoder,movement control,robot movement,robust execution,robust visual perception,robustness,sensor channel fusion,stereo system,visual estimation,visual feedback,visual hand tracking,visual servoing
Robot control,Computer vision,Motion control,Simulation,Computer science,Robot end effector,Visual servoing,Artificial intelligence,Robot,Robust control,Visual perception,Humanoid robot
Conference
ISSN
Citations 
PageRank 
2164-0572
7
0.52
References 
Authors
8
6
Name
Order
Citations
PageRank
Nikolaus Vahrenkamp121417.97
Steven Wieland270.52
pedram azad341825.86
David Israel Gonzalez-Aguirre4425.94
tamim asfour51889151.86
Rüdiger Dillmann62201262.95