DocumentCode
554657
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
Volume
5
fYear
2011
fDate
12-14 Aug. 2011
Firstpage
2659
Lastpage
2662
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/EMEIT.2011.6023644
Filename
6023644
Link To Document