Integrating real-time vision and manipulation

Articles:

Title:: Integrating real-time vision and manipulation
Author(s):: Yoshimi, Billibon
Allen, Peter K.
Date:: 1997
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15217
Book/Journal Title:: Proceedings of the Thirtieth Hawaii International Conference on System Sciences
Book Author:: Sprague, Ralph H.
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
Abstract:: Describes a system that integrates real-time computer vision with a sensorless gripper to provide closed-loop feedback control for grasping and manipulation tasks. Many hand-eye coordination skills can be thought of as sensory control loops, where specialized reasoning has been embodied as a feedback or control path in the loop's construction. Our framework captures the essence of these hand-eye coordination skills in simple visual control primitives, which are a key component of the software integration. The primitives use a simple visual tracking and correspondence scheme to provide real-time feedback control in the presence of imprecise camera calibrations. Experimental results are shown for the positioning task of locating, picking up and inserting a bolt into a nut under visual control. Results are also presented for the visual control of a bolt tightening task.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/HICSS.1997.663173