Robust visual servoing for object manipulation with large time-delays of visual information

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a new visual servoing method for object manipulation robust to considerable time-delays of visual information. There still remain several problems in visual servoing methods although they are quite useful and effective for dexterous object manipulation. For instance, time-delays to obtain necessary information for object manipulation from visual images induce unstable behavior. The time-delays are mainly caused by low sampling rate of visual sensing system, computational cost for image processing, and latency of data transmission from visual sensor to processor. The method makes it possible to avoid such unstable behavior of the systems due to considerable time-delays using virtual object frame defined by only each joint angle. Firstly, a new control scheme for object manipulation using the virtual object frame is designed. Next, numerical simulations are conducted to verify the effectiveness of the control scheme. Finally, experimental results are shown to demonstrate the practical usefulness of proposed method.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4797-4803
Number of pages7
DOIs
Publication statusPublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kawamura, A., Tahara, K., Kurazume, R., & Hasegawa, T. (2012). Robust visual servoing for object manipulation with large time-delays of visual information. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4797-4803). [6385589] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385589