Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance.
Max L. BalterAlvin I. ChenTimothy J. MaguireMartin L. YarmushPublished in: IEEE Trans. Ind. Electron. (2017)
Keyphrases
- stereo vision
- end effector
- vision system
- robotic manipulator
- robot motion
- force feedback
- robotic arm
- stereo matching
- robotic systems
- obstacle detection
- depth information
- degrees of freedom
- stereo images
- active control
- stereo camera
- visual servoing
- real time
- disparity map
- mobile robot
- confidence measures
- depth estimation
- control system
- structured environments
- position control
- semi global matching
- visual feedback
- contact force
- three dimensional
- control scheme
- control strategy
- image pairs
- pose estimation
- post processing
- multiscale
- computer vision