Hand-eye coordination through endpoint closed-loop and learned endpoint open-loop visual servo control

Gaskett, Chris, Ude, Aleš, and Cheng, Gordon (2005) Hand-eye coordination through endpoint closed-loop and learned endpoint open-loop visual servo control. International Journal of Humanoid Robotics, 2 (2). pp. 203-224.

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Abstract

We propose a hand–eye coordination system for a humanoid robot that supports bimanual reaching. The system combines endpoint closed-loop and open-loop visual servo control. The closed-loop component moves the eyes, head, arms, and torso, based on the position of the target and the robot’s hands, as seen by the robot’s head-mounted cameras. The open-loop component uses a motor–motor mapping that is learnt online to support movement when visual cues are not available.

Item ID: 625
Item Type: Article (Refereed Research - C1)
Keywords: hand–eye coordination, learning, self-organizing map, visual servo control
Additional Information:

Copyright © 2005 World Scientific Publishing Co. All rights reserved.

ISSN: 1793-6942
Date Deposited: 04 Oct 2006
FoR Codes: 08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080101 Adaptive Agents and Intelligent Robotics @ 100%
SEO Codes: 89 INFORMATION AND COMMUNICATION SERVICES > 8999 Other Information and Communication Services > 899999 Information and Communication Services not elsewhere classified @ 100%
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