Vision based robotic grasping with a hybrid camera configuration

Vision based robotic grasping systems have significant applications in the areas of space exploration and service robots. In this paper, an image based visual servoing controller with a hybrid camera configuration is proposed. In particular, an eye-in-hand camera is employed to track the position of the target object while a stereo camera is utilized to obtain the depth information of the object. A physical vision-based mobile manipulation system is developed to validate the proposed approach. The experimental results show that the proposed controller is effective to help a robot grasp the target object autonomously.