Related papers: Visual Servoing Based on 3D Features: Design and I…
Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…
Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…
Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…
Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…
Achieving zero-shot peg insertion, where inserting an arbitrary peg into an unseen hole without task-specific training, remains a fundamental challenge in robotics. This task demands a highly generalizable perception system capable of…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Robotic peg-in-hole assembly remains a challenging task due to its high accuracy demand. Previous work tends to simplify the problem by restricting the degree of freedom of the end-effector, or limiting the distance between the target and…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…
We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align multiple distant pegs and holes,…
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…