Object contour following task based on integrated information of vision and force sensor

Robotic Adaptive Impedance Control Based On Visual Guidance

“…Nobutaka Tsujiuchi propose two newly developed methods, one is the angle detection of the inclined plane by perspective, and the second is the universal force controller that contains of variable stiffness impedance controller and sliding mode controller, angle detection and contact task were carried out using the proposed control system and the practicability of this method was verified [15] . Sang-Wook Jeon presents object contour following task based on integrated information of both vision and force sensor, the distance to the contour from the center of the image and the angle of the contour is detected by the relative area method that measures the image features of interest directly from the thresholded image without any intermediate steps, a set of contour edge points is detected by canny edge detector [16] . Alkkiomaki, O present a method which fuses force and vision in an extended Kalman filter (EKF), a hybrid force controller is then set up to follow a trajectory based on the estimate from the EKF, the estimate allows a simple proportional force control to track a continuous trajectory reliably, where an unfiltered visual measurement becomes unstable [17] .…”