Cart (Loading....) | Create Account
Close category search window
 

Redundant arm positioning control of the humanoid robot by linear visual servoing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Namba, K. ; Graduate Sch. of Syst. Eng., Wakayama Univ., Japan ; Maru, N.

This paper proposes a method to control the 4 d.o.f. arm of the humanoid robot by linear visual servoing. Linear visual servoing is based on the linear approximation between binocular visual space and joint space of the arm of the humanoid robot which has a similar kinematic structure as a human being. It is very robust to calibration error, especially to camera angle errors and joint angle errors, because it uses neither camera angles nor joint angles to calculate feedback command. Although we showed that 3D linear visual servoing is effective in positioning control of the 3 d.o.f. arm of the humanoid robot, the possibility to control the arm with more degree of freedom is not shown yet. In this paper, we propose a method to control 4 d.o.f. arm of the humanoid robot by linear visual servoing. We obtain the linear approximation matrix of 4 d.o.f. arm and express it as a function of the elbow joint angle by using the neural network. Some experimental results are presented to demonstrate the effectiveness of the proposed method.

Published in:

Industrial Electronics, 2004 IEEE International Symposium on  (Volume:1 )

Date of Conference:

4-7 May 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.