相关论文: Visual Servoing for Pose Control of Soft Continuum…
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…
Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…
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…
An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work…
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…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
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…
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.…
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…
We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…
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…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…
In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a rigid robot, and calibration between vision and body takes…
This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…
Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
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…
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…