Related papers: Image-Based Visual Servoing for Enhanced Cooperati…
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,…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
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…
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…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
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…
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…
In this paper, we propose a method to align and place a fabric piece on top of another using a dual-arm manipulator and a grayscale camera, so that their surface textures are accurately matched. We propose a novel control scheme that…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
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…
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…
Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…
Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajectories around the body, and track human motion. This study…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…