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Robotic hand-eye coordination: from observation to manipulation

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2 Author(s)
Jafari, S. ; Intelligent Robotics Res. Centre, Monash Univ., Clayton, Vic., Australia ; Jarvis, R.

In this paper, we present a new hybrid method of performing eye-to-hand coordination and manipulation to produce a working robot named COERSU. The method is an optimized combination of two neuro-fuzzy approaches developed by the authors: direct fuzzy servoing and fuzzy correction. The fuzzy methods are tuned by an adaptive neuro-fuzzy inference system (ANFIS). On the whole, a genetic tuner and two neuro-fuzzy networks contribute to find the final optimum position of the robotic tooltip in order to grasp the target. Experimental results from COERSU in a table-top scenario to manipulate some soft objects (e.g. fruit/egg) also validate the method.

Published in:

Hybrid Intelligent Systems, 2004. HIS '04. Fourth International Conference on

Date of Conference:

5-8 Dec. 2004