TY - GEN
T1 - Visual servoing with safe interaction using image moments
AU - Sadeghian, Hamid
AU - Villani, Luigi
AU - Kamranian, Zahra
AU - Karami, Abbas
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - The problem of image based visual servoing for robots working in a cluttered dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. Also an eye-in-hand camera is used to extract image features. The main idea is to control suitable image moments and to relax a certain number of robot's degrees of freedom during the interaction phase. If an obstacle approaches the robot, the main visual servoing task is relaxed partially or completely, while the image features are kept in the camera field of view by controlling the image moments. Fuzzy rules are used to set the desired values of the image moments. Beside that, the relaxed redundancy of the robot is exploited to avoid collisions. After removing the risk of collision, the main visual servoing task is resumed. The effectiveness of the algorithm is shown by several case studies on a KUKA LWR 4 robot arm.
AB - The problem of image based visual servoing for robots working in a cluttered dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. Also an eye-in-hand camera is used to extract image features. The main idea is to control suitable image moments and to relax a certain number of robot's degrees of freedom during the interaction phase. If an obstacle approaches the robot, the main visual servoing task is relaxed partially or completely, while the image features are kept in the camera field of view by controlling the image moments. Fuzzy rules are used to set the desired values of the image moments. Beside that, the relaxed redundancy of the robot is exploited to avoid collisions. After removing the risk of collision, the main visual servoing task is resumed. The effectiveness of the algorithm is shown by several case studies on a KUKA LWR 4 robot arm.
UR - http://www.scopus.com/inward/record.url?scp=84958169207&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7354153
DO - 10.1109/IROS.2015.7354153
M3 - Conference contribution
AN - SCOPUS:84958169207
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5479
EP - 5485
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -