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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
- Page(s):
- 20 - 25
- Print ISBN:
- 0-7695-2291-2
- INSPEC Accession Number:
- 8470849
- Digital Object Identifier :
- 10.1109/ICHIS.2004.82
- Product Type:
- Conference Publications
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