Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 1702-1707 |
| ISBN (Print) | 978-1-4673-1737-5 |
| DOIs | |
| Publication status | Published - 2012 |
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Feed forward visual servoing for object exploration. / Pieters, R.S.; Alvarez Aguirre, A.; Jonker, P.P.; Nijmeijer, H.
Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal. Piscataway : Institute of Electrical and Electronics Engineers, 2012. p. 1702-1707.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Feed forward visual servoing for object exploration
AU - Pieters, R.S.
AU - Alvarez Aguirre, A.
AU - Jonker, P.P.
AU - Nijmeijer, H.
PY - 2012
Y1 - 2012
N2 - A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.
AB - A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.
U2 - 10.1109/IROS.2012.6385613
DO - 10.1109/IROS.2012.6385613
M3 - Conference contribution
SN - 978-1-4673-1737-5
SP - 1702
EP - 1707
BT - Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal
PB - Institute of Electrical and Electronics Engineers
CY - Piscataway
ER -