The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Presents a coherent approach for visual servoing tasks that consists of following the contours of unknown objects using a hand-eye robotic system. The motion of the contour relative to the camera sensor is estimated in real-time by processing the measured optical flow of a set of relevant feature points. The desired motion of the end-effector is then computed to minimize the displacements of the feature points with respect to a reference configuration in the image. Control schemes are used in order to stabilize the robot and enhance tracking performances. The authors illustrate the approach by experimental results acquired with a real-time environment, where their CMU-Direct-Drive Arm II follows the boundaries of motionless objects positioned in a plane parallel to the image plane. Three degrees of freedom of planar motions are thus servoed to perform the contour-following task.

Notes

Text Reference

E.C. Maniere, P. Couvignou, and Pradeep Khosla, "Robotic contour following based on visual servoing," Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), July, 1993, pp. 716 - 722.

BibTeX Reference

@inproceedings{Khosla_1993_3557,
   author = "E.C. Maniere and P. Couvignou and Pradeep Khosla",
   title = "Robotic contour following based on visual servoing",
   booktitle = "Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)",
   pages = "716 - 722",
   month = "July",
   year = "1993",
   volume = "2",
}

The Robotics Institute

Menu