Title :
Adaptable vision/motion coordination for a robot
Author :
Burdet, E. ; Luthige, J.
Author_Institution :
Inst. of Robotics, Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
The main problem for a robot arm guided by a vision system is the time consuming visual analysis. To overcome this problem, a human like visuo motor coordination has been implemented, which allows fast, smooth and reactive movements. Visual analysis is performed in parallel to the motion, and smooth immediate reactions are executed by a new flexible motion planner. By adjusting the visual field and the motion velocity, the mean time and energy to meet objects localised in an area are minimised.
Keywords :
motion control; motion estimation; path planning; robot vision; visual perception; adaptable vision/motion coordination; flexible motion planner; human like visuo motor coordination; immediate reactions; motion velocity; reactive movements; robot arm; vision system; visual analysis; Fractals; Humans; Machine vision; Motion analysis; Performance analysis; Retina; Robot kinematics; Robot sensing systems; Robot vision systems; Service robots;
Conference_Titel :
From Perception to Action Conference, 1994., Proceedings
Print_ISBN :
0-8186-6482-7
DOI :
10.1109/FPA.1994.636126
