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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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 Type:||Article (Refereed Research - C1)|
Copyright © 2005 World Scientific Publishing Co. All rights reserved.
|Keywords:||hand–eye coordination, learning, self-organizing map, visual servo control|
|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%|
|Deposited On:||04 Oct 2006|
|Last Modified:||24 Mar 2011 16:15|
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