A robot visual/inertial servoing to an object with inertial sensors
Pages 490 - 500
Abstract
The paper introduces a robot visual/inertial servoing algorithm when the robot needs to track an object with inertial sensors inside. In this situation, first, inertial Jacobian is newly defined to show the relationship between an angle set velocity vector and angular velocity vector of the robot tip. That is combined with the conventional image Jacobian for the proposed robot servoing algorithm. While four landmarks have been used in the conventional visual servoing algorithm, the proposed algorithm requires only two landmarks with help of the IMU to track a moving object. Simulation and Implementation have been done to verify the feasibility of the proposed methodology.
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- A robot visual/inertial servoing to an object with inertial sensors
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Published In
September 2009
1134 pages
ISBN:3642040691
Sponsors
- NSF: National Science Foundation
- ieee-cis: IEEE Computational Intelligence Society
- INNS: International Neural Network Society
Publisher
Springer-Verlag
Berlin, Heidelberg
Publication History
Published: 16 September 2009
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