Distributed visual servoing with a roving eye

Author

Hershberger, David ; Burridge, Robert ; Kortenkamp, David ; Simmons, Reid

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

1

fYear

2000

fDate

2000

Firstpage

441

Abstract

This paper presents experimental results of preliminary research into multi-robot coordination for construction tasks. Experiments demonstrate that an autonomous “roving eye” robot can provide feedback to a manipulator to align targets from a wider variety of situations than is possible with fixed cameras, without sacrificing the accuracy provided by cameras at close range. The roving eye changes its location autonomously based on current images of the manipulated object and target, always striving for the best view of the task

Keywords

building; motion control; multi-robot systems; multivariable control systems; position control; robot vision; construction task; crane robot; dextrous robot manipulator; distributed visual servoing; fine motion control; heavy steel beam; manipulator; multi-robot coordination; remote sensing; roving eye; Buildings; Cameras; Cranes; Feedback; Manipulators; Robot kinematics; Robot vision systems; Robotic assembly; Structural beams; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.894644

Filename

894644