By Topic

Positioning control of the arm 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
$33 $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)
K. Namba ; Graduate Sch. of Syst. Eng., Wakayama Univ., Japan ; N. Maru

This paper presents a positioning control of the 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. 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. In this paper, we propose a method to expand work space of linear visual servoing by using neck joint. We obtain the linear approximation matrix in wide space and express it as a function of the neck angle by using the neural network. Some experimental results are presented to demonstrate the effectiveness of the proposed method.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003