By Topic

Error regulation strategies for Model Based visual servoing tasks: Application to autonomous object grasping with Nao robot

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

3 Author(s)
Moughlbay, A.A. ; Inst. de Rech. en Commun. et Cybernetique de Nantes (IRCCyN), Ecole Centrale de Nantes, Nantes, France ; Cervera, E. ; Martinet, P.

When applying service robotic tasks using sensor based control, a classical exponential decrease of the error is usually used in the control laws which can reduces the performance of the executed task. In fact, due to this choice, the convergence time greatly increases especially at the end of the process. To ameliorate the performance of such tasks, we present in this paper two new error regulation strategies to accelerate the service tasks execution. These propositions are compared with the classical one in the case of performing autonomous object's manipulation tasks using real-time visual servoing. The Model Based Tracking method is used to apply head servoing and grasping of different objects using Nao humanoid robot.

Published in:

Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on

Date of Conference:

5-7 Dec. 2012