Eye-in-hand stereo visual servoing of an assistive robot arm in unstructured environments.
Dae-Jin KimRyan LovelettAman BehalPublished in: ICRA (2009)
Keyphrases
- unstructured environments
- visual servoing
- robot arm
- mobile robot
- motion planning
- robot control
- end effector
- autonomous robots
- control law
- real robot
- inverse kinematics
- path planning
- robotic systems
- nonlinear systems
- computer vision
- closed loop
- multi robot
- dynamic environments
- vision system
- viewpoint
- real time
- position and orientation
- three dimensional
- depth map
- control strategies
- fuzzy logic
- experimental data
- camera motion
- control system
- image sequences
- machine learning