Title :
Base on research of un-calibrated visual servo in crawling object with dexterous hand
Author :
Xiao Ke ; Ouyang Ge ; Wang Jiaxu
Author_Institution :
State Key Lab. of Mech., Chongqing Univ., Chongqing, China
Abstract :
This paper describes an un-calibrated control method for dexterous hand crawl an object with eye-in-hand camera. This method is based on boundary tracking method for object contours. This method does not compute moore-Penrose inverse of image Jacobian, avoiding the image the singularity of image Jacobian.
Keywords :
cameras; dexterous manipulators; inverse problems; object recognition; object tracking; robot vision; visual servoing; boundary tracking method; crawling object; dexterous hand crawling; eye-in-hand camera; moore-Penrose image Jacobian inverse; object contours; uncalibrated control method; uncalibrated visual servo; Cameras; Jacobian matrices; Robot vision systems; Servomotors; Target tracking; Visualization; eye-in-hand; feature points; servo dexterous hand; un-calibrated visua;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023644
