Robust visual servoing in 3d reaching tasks

This paper describes a novel approach to the problem of reaching an object in space under visual guidance. The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the end-effector motion field, derived from real-time computation of the binocular optical flow over the stereo images, is compared with the actual position of the target and the relative error in the end-effector trajectory is continuously corrected. The paper outlines the general framework of the approach, shows how visual measures are obtained and discusses the synthesis of the controller along with its stability analysis. Real-time experiments are presented to show the applicability of the approach in real 3-D applications

Vision-Based Virtual Using Gesture Recognition for Robotic Platform Control.

The aim of this research is to build a robust image-based virtual input for robotic platform control

Multi-sensor based segmentation of human manipulation tasks

Proceedings of: 2010 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (FMI), September 5-7, 2010, Salt Lake City, USAIn this paper we present an overview of a multisensor setup designed to record and analyse human in-hand manipulation - tasks consisting of several phases of finger motions following the initial grasp. During the experiments all of the hand, finger, and object positions are recorded, as are the contact forces applied to the manipulated objects. The use of instrumented sensing objects complements the data. The goal is to understand and extract a basic set of finger and hand movement patterns, which can then be combined to perform a complete manipulation task, and which can be transferred to control robotic hands. The segmentation of whole manipulation traces into several phases corresponding to individual basic patterns is the first step towards this goal. Initial analysis and segmentation of two typical manipulation tasks are presented, showing the advantages of the multi-modal analysis.European Community's Seventh Framework ProgramThis work is partially supported by the European project HANDLE ICT-23641O, www.handleproject.eul