Title :
Integrating real-time vision and manipulation
Author :
Yoshimi, Billibon H. ; Allen, Peter K.
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
Describes a system that integrates real-time computer vision with a sensorless gripper to provide closed-loop feedback control for grasping and manipulation tasks. Many hand-eye coordination skills can be thought of as sensory control loops, where specialized reasoning has been embodied as a feedback or control path in the loop´s construction. Our framework captures the essence of these hand-eye coordination skills in simple visual control primitives, which are a key component of the software integration. The primitives use a simple visual tracking and correspondence scheme to provide real-time feedback control in the presence of imprecise camera calibrations. Experimental results are shown for the positioning task of locating, picking up and inserting a bolt into a nut under visual control. Results are also presented for the visual control of a bolt tightening task
Keywords :
calibration; closed loop systems; feedback; intelligent control; manipulators; position control; real-time systems; robot vision; spatial reasoning; bolt location; bolt tightening; bolt-nut insertion; closed-loop feedback control; grasping; hand-eye coordination skills; imprecise camera calibrations; manipulation tasks; positioning; real-time computer vision; real-time feedback control; sensorless gripper; sensory control loops; software integration; specialized reasoning; visual control; visual control primitives; visual correspondence scheme; visual tracking scheme; Fasteners; Feedback control; Fingers; Fixtures; Grippers; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly;
Conference_Titel :
System Sciences, 1997, Proceedings of the Thirtieth Hawaii International Conference on
Conference_Location :
Wailea, HI
Print_ISBN :
0-8186-7743-0
DOI :
10.1109/HICSS.1997.663173