12 research outputs found
Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary
The complex physical properties of highly deformable materials such as
clothes pose significant challenges fanipulation systems. We present a novel
visual feedback dictionary-based method for manipulating defoor autonomous
robotic mrmable objects towards a desired configuration. Our approach is based
on visual servoing and we use an efficient technique to extract key features
from the RGB sensor stream in the form of a histogram of deformable model
features. These histogram features serve as high-level representations of the
state of the deformable material. Next, we collect manipulation data and use a
visual feedback dictionary that maps the velocity in the high-dimensional
feature space to the velocity of the robotic end-effectors for manipulation. We
have evaluated our approach on a set of complex manipulation tasks and
human-robot manipulation tasks on different cloth pieces with varying material
characteristics.Comment: The video is available at goo.gl/mDSC4
3D Spectral Domain Registration-Based Visual Servoing
This paper presents a spectral domain registration-based visual servoing
scheme that works on 3D point clouds. Specifically, we propose a 3D model/point
cloud alignment method, which works by finding a global transformation between
reference and target point clouds using spectral analysis. A 3D Fast Fourier
Transform (FFT) in R3 is used for the translation estimation, and the real
spherical harmonics in SO(3) are used for the rotations estimation. Such an
approach allows us to derive a decoupled 6 degrees of freedom (DoF) controller,
where we use gradient ascent optimisation to minimise translation and
rotational costs. We then show how this methodology can be used to regulate a
robot arm to perform a positioning task. In contrast to the existing
state-of-the-art depth-based visual servoing methods that either require dense
depth maps or dense point clouds, our method works well with partial point
clouds and can effectively handle larger transformations between the reference
and the target positions. Furthermore, the use of spectral data (instead of
spatial data) for transformation estimation makes our method robust to
sensor-induced noise and partial occlusions. We validate our approach by
performing experiments using point clouds acquired by a robot-mounted depth
camera. Obtained results demonstrate the effectiveness of our visual servoing
approach.Comment: Accepted to 2023 IEEE International Conference on Robotics and
Automation (ICRA'23
Direct Visual Servoing Based on Discrete Orthogonal Moments
This paper proposes a new approach to achieve direct visual servoing (DVS)
based on discrete orthogonal moments (DOM). DVS is conducted whereby the
extraction of geometric primitives, matching and tracking steps in the
conventional feature-based visual servoing pipeline can be bypassed. Although
DVS enables highly precise positioning, and suffers from a small convergence
domain and poor robustness, due to the high non-linearity of the cost function
to be minimized and the presence of redundant data between visual features. To
tackle these issues, we propose a generic and augmented framework to take DOM
as visual features into consideration. Through taking Tchebichef, Krawtchouk
and Hahn moments as examples, we not only present the strategies for adaptive
adjusting the parameters and orders of the visual features, but also exhibit
the analytical formulation of the associated interaction matrix. Simulations
demonstrate the robustness and accuracy of our method, as well as the
advantages over the state of the art. The real experiments have also been
performed to validate the effectiveness of our approach
Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator
This paper focuses on the solutions to flexibly regulate robotic by vision. A new visual servoing technique based on the Kalman filtering (KF) combined neural network (NN) is developed, which need not have any calibration parameters of robotic system. The statistic knowledge of the system noise and observation noise are first given by Gaussian white noise sequences, the nonlinear mapping between robotic vision and motor spaces are then on-line identified using standard Kalman recursive equations. In real robotic workshops, the perfect statistic knowledge of the noise is not easy to be derived, thus an adaptive neuro-filtering approach based on KF is also studied for mapping on-line estimation in this paper. The Kalman recursive equations are improved by a feedforward NN, in which the neural estimator dynamic adjusts its weights to minimize estimation error of robotic vision-motor mapping, without the knowledge of noise variances. Finally, the proposed visual servoing based on adaptive neuro-filtering has been successfully implemented in robotic pose regulation, and the experimental results demonstrate its validity and practicality for a six-degree-of-freedom (DOF) robotic system which the hand-eye without calibrated
Methods for visual servoing of robotic systems: A state of the art survey
U ovom preglednom radu su prikazane metode vizuelnog upravljanja robotskih sistema, sa primarnim fokusom na mobilne robote sa diferencijalnim pogonom. Analizirane su standardne metode vizuelnog upravljanja bazirane na (i) greÅ”kama u parametrima slike (engl. Image-Based Visual Servoing - IBVS) i (ii) izdvojenim karakteristikama sa slike neophodnim za estimaciju položaja izabranog objekta (engl. Position-Based Visual Servoing - PBVS) i poreÄene sa novom metodom direktnog vizuelnog upravljanja (engl. Direct Visual Servoing - DVS). U poreÄenju sa IBVS i PBVS metodama, DVS metod se odlikuje viÅ”om taÄnoÅ”Äu, ali i manjim domenom konvergencije. Zbog ovog razloga je DVS metod upravljanja pogodan za integraciju u hibridne sisteme vizuelnog upravljanja. TakoÄe, predstavljeni su radovi koji unapreÄuju sistem vizuelnog upravljanja koriÅ”Äenjem stereo sistema (sistem sa dve kamere). Stereo sistem, u poreÄenju sa alternativnim metodama, omoguÄava taÄniju ocenu dubine karakteristiÄnih objekata sa slike, koja je neophodna za zadatke vizuelnog upravljanja. Predmet analize su i radovi koji integriÅ”u tehnike veÅ”taÄke inteligencije u sistem vizuelnog upravljanja. Ovim tehnikama sistemi vizuelnog upravljanja dobijaju moguÄnost da uÄe, Äime se njihov domen primene znatno proÅ”iruje. Na kraju, napominje se i moguÄnost integracije vizuelne odometrije u sisteme vizuelnog upravljanja, Å”to prouzrokuje poveÄanje robusnosti Äitavog robotskog sistema.This paper surveys the methods used for visual servoing of robotic systems, where the main focus is on mobile robot systems. The three main areas of research include the Direct Visual Servoing, stereo vision systems, and artificial intelligence in visual servoing. The standard methods such as Image-Based Visual Servoing (IBVS) and Position-Based Visual Servoing (PBVS) are analyzed and compared with the new method named Direct Visual Servoing (DVS). DVS methods have better accuracy, compared to IBVS and PBVS, but have limited convergence area. Because of their high accuracy, DVS methods are suitable for integration into hybrid systems. Furthermore, the use of the stereo systems for visual servoing is comprehensively analyzed. The main contribution of the stereo system is the accurate depth estimation, which is critical for many visual servoing tasks. The use of artificial intelligence (AI) in visual servoing purposes has also gained popularity over the years. AI techniques give visual servoing controllers the ability to learn by using predefined examples or empirical knowledge. The learning ability is crucial for the implementation of robotic systems in a real-world dynamic manufacturing environment. Also, we analyzed the use of visual odometry in combination with a visual servoing controller for creating more robust and reliable positioning system
Inteligentno stereo-vizuelno upravljanje mobilnih robota i optimalno terminiranje tehnoloÅ”kih procesa - pregled rezultata istraživanja u okviru projekta MISSION4.0/Intelligent stereo-visual mobile robot control and optimal process planning and scheduling ā overview of research results within the project MISSION4.0
Projekat MISSION4.0 podrazumevao je, u okviru nekoliko radnih paketa, razvoj inteligentnog stereo-vizuelnog upravljanja mobilnih robota, kao i optimalno planiranje i terminiranje tehnoloÅ”kih procesa, i to baziranim na tehnikama veÅ”taÄke inteligencije, posebno na konvolucionim veÅ”taÄkim neuronskim mrežama i bioloÅ”ki inspirisanim algoritmima optimizacije. Tokom dvogodiÅ”njih intenzivnih nauÄnih istraživanja razvijena je nova metodologija za autonomnu navigaciju i inteligentno upravljanje mobilnih robota sopstvenog razvoja, nazvanih RAICO i DOMINO. Generisanje optimalnog plana terminiranja tehnoloÅ”kih procesa, u okviru koga se izvrÅ”ava i inteligentni unutraÅ”nji transport koriÅ”Äenjem mobilnih robota, takoÄe je bio jedan od važnih ciljeva ovih naprednih istraživanja. U ovom radu, dat je pregled nekih od kljuÄnih rezultata projekta MISSION4.0, poput publikovanih u vodeÄim meÄunarodnim i nacionalnim nauÄnim Äasopisima, objavljenih poglavlja u nauÄnim monografijama, saopÅ”tenih i odÅ”tampanih nauÄnih radova u zbornicima prestižnih konferencija održanih u inostranstvu i regionu, zatim u okviru verifikovanih tehniÄkih reÅ”enja, kao i preko skupova podataka sa otvorenim pristupom
Inteligentno stereo-vizuelno upravljanje mobilnih robota i optimalno terminiranje tehnoloÅ”kih procesa - pregled rezultata istraživanja u okviru projekta MISSION4.0/Intelligent stereo-visual mobile robot control and optimal process planning and scheduling ā overview of research results within the project MISSION4.0
Projekat MISSION4.0 podrazumevao je, u okviru nekoliko radnih paketa, razvoj inteligentnog stereo-vizuelnog upravljanja mobilnih robota, kao i optimalno planiranje i terminiranje tehnoloÅ”kih procesa, i to baziranim na tehnikama veÅ”taÄke inteligencije, posebno na konvolucionim veÅ”taÄkim neuronskim mrežama i bioloÅ”ki inspirisanim algoritmima optimizacije. Tokom dvogodiÅ”njih intenzivnih nauÄnih istraživanja razvijena je nova metodologija za autonomnu navigaciju i inteligentno upravljanje mobilnih robota sopstvenog razvoja, nazvanih RAICO i DOMINO. Generisanje optimalnog plana terminiranja tehnoloÅ”kih procesa, u okviru koga se izvrÅ”ava i inteligentni unutraÅ”nji transport koriÅ”Äenjem mobilnih robota, takoÄe je bio jedan od važnih ciljeva ovih naprednih istraživanja. U ovom radu, dat je pregled nekih od kljuÄnih rezultata projekta MISSION4.0, poput publikovanih u vodeÄim meÄunarodnim i nacionalnim nauÄnim Äasopisima, objavljenih poglavlja u nauÄnim monografijama, saopÅ”tenih i odÅ”tampanih nauÄnih radova u zbornicima prestižnih konferencija održanih u inostranstvu i regionu, zatim u okviru verifikovanih tehniÄkih reÅ”enja, kao i preko skupova podataka sa otvorenim pristupom