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Movement-flow-based visual servoing and force control fusion for Manipulation Tasks in unstructured environments

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2 Author(s)
Pomares, J. ; Dept. of Phys., Univ. of Alicante, Spain ; Torres, F.

A new approach for fusing visual and force information is shown. First, a new method for tracking trajectories, called movement flow-based visual servoing system, which presents the correct behavior in the image and in the three-dimensional space, is described. The information obtained from this system is fused with that obtained from a force control system in unstructured environments. To do so, a new method of recognizing the contact surface and a system for fusing visual and force information are described. The latter method employs variable weights for each sensor system, depending on a criteria based on the detection of changes in the interaction forces processed by a Kalman filter.

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Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on  (Volume:35 ,  Issue: 1 )