Towards Practical Visual Servoing in Robotics

Fomena, Roméo Tatsambon; Quintero, Camilo Perez; Gridseth, Mona; Jägersand, Martin

doi:10.1109/crv.2013.23

Cited by 9 publications

(6 citation statements)

References 28 publications

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“…This is due to a set of challenges that still needs solving [11]- [13]. One such challenge is how to specify the actions that the robot should do.…”

Section: B Visual Task Specificationmentioning

confidence: 98%

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ViTa: Visual task specification interface for manipulation with uncalibrated visual servoing

Gridseth

Ramírez

Quintero

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We present a human robot interface (HRI) for semiautonomous human-in-the-loop control, that aims to tackle some of the challenges for robotics in unstructured environments. Our HRI lets the user specify desired object alignments in an image editor as geometric overlays on images. The HRI is based on the technique of visual task specification [1], which provides a well studied theoretical framework. Tasks are completed using uncalibrated image-based visual servoing (UVS). Our interface is shown to be effective for a versatile set of tasks that span both coarse and fine manipulation. We complete tasks such as inserting a marker in its cap, inserting a small cube in a shape sorter, grasping a circular lid, following a line, grasping a screw, cutting along a line, picking and placing a box and grasping a cylinder using a Barrett WAM arm and hand.

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“…This is due to a set of challenges that still needs solving [11]- [13]. One such challenge is how to specify the actions that the robot should do.…”

Section: B Visual Task Specificationmentioning

confidence: 98%

“…4. Trackers still pose a challenge to visual servoing in real world environments because they need to be robust and work in real time [11]. It is difficult to find trackers that work robustly under all conditions.…”

Section: Hri Systemmentioning

confidence: 99%

ViTa: Visual task specification interface for manipulation with uncalibrated visual servoing

Gridseth

Ramírez

Quintero

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…As a result, vision measurements have been combined with force/tactile measurements to form hybrid visual/force control schemes [ 13 , 17 ]. However the extraction of useful information from cameras offers important challenges [ 18 ]. Computationally demanding algorithms for reliable feature extraction and for pose estimation, and complicated calibration processes are required.…”

Section: Literature Reviewmentioning

confidence: 99%

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Laferrière

Payeur

2017

Sensors

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Compliance has been exploited in various forms in robotic systems to allow rigid mechanisms to come into contact with fragile objects, or with complex shapes that cannot be accurately modeled. Force feedback control has been the classical approach for providing compliance in robotic systems. However, by integrating other forms of instrumentation with compliance into a single device, it is possible to extend close monitoring of nearby objects before and after contact occurs. As a result, safer and smoother robot control can be achieved both while approaching and while touching surfaces. This paper presents the design and extensive experimental evaluation of a versatile, lightweight, and low-cost instrumented compliant wrist mechanism which can be mounted on any rigid robotic manipulator in order to introduce a layer of compliance while providing the controller with extra sensing signals during close interaction with an object’s surface. Arrays of embedded range sensors provide real-time measurements on the position and orientation of surfaces, either located in proximity or in contact with the robot’s end-effector, which permits close guidance of its operation. Calibration procedures are formulated to overcome inter-sensor variability and achieve the highest available resolution. A versatile solution is created by embedding all signal processing, while wireless transmission connects the device to any industrial robot’s controller to support path control. Experimental work demonstrates the device’s physical compliance as well as the stability and accuracy of the device outputs. Primary applications of the proposed instrumented compliant wrist include smooth surface following in manufacturing, inspection, and safe human-robot interaction.

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“…where α is the orientation as in (3). We can see that the shift points were computed with the orientation axes shifted by 0 and π/2.…”

Section: A Preliminaries and Related Workmentioning

confidence: 99%

“…This was identified long back as a stumbling block for the expansion of VS [2]. The recent vision paper [3] highlighted challenges that have to be overcome in order to make visual servoing methods practically useful in real-world applications.…”

Section: Introductionmentioning

confidence: 99%

Improving moments-based visual servoing with tunable visual features

Bakthavatchalam

Tahri

Chaumette

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this paper, we introduce the concept of tunable visual features for moments based visual servoing schemes. The main contribution of this work is the introduction of tunable shift points along with some effective methods to tune them. We propose two different metrics: the first metric ensures optimal response of the control to errors in the image space and the second metric ensures orthogonality between the interaction matrix components (vectors) related to the control of x and y rotational motions. With the proposed method, it is possible to design moment invariants-based visual features whose interaction matrix is always non-singular for any desired pose (parallel or non-parallel). Thus, this work makes a significant contribution to the difficult problem of controlling the rotational motions around the x and y axes, when all the 6dof are involved. Two case studies are presented to demonstrate the validity of the proposed ideas. Results from each case are then used to design a moment invariants-based visual feature. This visual feature is used for visual servoing with a symmetrical object using binary moments and a freeform planar target using photometric moments.

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Towards Practical Visual Servoing in Robotics

Cited by 9 publications

References 28 publications

ViTa: Visual task specification interface for manipulation with uncalibrated visual servoing

ViTa: Visual task specification interface for manipulation with uncalibrated visual servoing

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Improving moments-based visual servoing with tunable visual features

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