Paper Info
Title
Robust visual servoing for object manipulation with large time-delays of visual information.
Abstract
This paper proposes a new visual servoing method for object manipulation robust to considerable time-delays of visual information. There still remain several problems in visual servoing methods although they are quite useful and effective for dexterous object manipulation. For instance, time-delays to obtain necessary information for object manipulation from visual images induce unstable behavior. The time-delays are mainly caused by low sampling rate of visual sensing system, computational cost for image processing, and latency of data transmission from visual sensor to processor. The method makes it possible to avoid such unstable behavior of the systems due to considerable time-delays using virtual object frame defined by only each joint angle. Firstly, a new control scheme for object manipulation using the virtual object frame is designed. Next, numerical simulations are conducted to verify the effectiveness of the control scheme. Finally, experimental results are shown to demonstrate the practical usefulness of proposed method.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385589
IROS
Keywords
Field
DocType
data communication,delays,dexterous manipulators,image sampling,image sensors,robot vision,visual servoing,data transmission,dexterous object manipulation,image sampling,numerical simulation,time delay,virtual object frame,visual image processing,visual information,visual sensing system,visual sensor,visual servoing method
Virtual image,Computer vision,Data transmission,Image sensor,Visualization,Computer science,Image processing,Attitude control,Control engineering,Software,Artificial intelligence,Visual servoing
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Akihiro Kawamura1167.41
Kenji Tahara219136.63
Ryo Kurazume362274.18
Tsutomu Hasegawa448571.41