Grasping a waving object for a humanoid robot using a biologically-inspired active vision system

Author

Peng, Jian ; Peters, Alan ; Ao, Xinyu ; Srikaew, Arthit

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Vanderbilt Univ., Nashville, TN, USA

fYear

2003

fDate

31 Oct.-2 Nov. 2003

Firstpage

115

Lastpage

120

Abstract

Grasping a waving object is a very useful behavior for a humanoid robot. This paper presents how a humanoid robot performs this behavior utilizing an active vision system. The gaze control of the active vision system is highly inspired by biological systems, and is implemented in four basic behaviors: saccade, smooth pursuit, vergence, and vestibulo-ocular reflex. This gaze control method also simplifies the visual servoing task after waving motion is detected. Waving motions are detected by optical flow with background motion detected by either motion histogram or phase correlation.

Keywords

active vision; dexterous manipulators; image motion analysis; image sequences; motion control; robot vision; biologically-inspired active vision system; gaze control; humanoid robot; motion histogram; optical flow; phase correlation; vestibulo-ocular reflex; visual servoing; waving motion; waving object grasping; Biological control systems; Biological systems; Control systems; Humanoid robots; Machine vision; Motion control; Motion detection; Optical detectors; Phase detection; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on

Print_ISBN

0-7803-8136-X

Type

conf

DOI

10.1109/ROMAN.2003.1251815

Filename

1251815