Multi-cameras Visual Servoing to Perform a Coordinated Task using a Dual Arm Robot

Renliw Fleurmond; Viviane Cadenat

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Paper

Multi-cameras Visual Servoing to Perform a Coordinated Task using a Dual Arm Robot

Topics: Control and Supervision Systems; Robot Design, Development and Control; Sensors Fusion

In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 37-44, 2014 , Vienna, Austria

Authors: Renliw Fleurmond and Viviane Cadenat

Affiliation: Univ de Toulouse, UPS and LAAS, France

Keyword(s): Dual Arm Robots, Coordination, Vision-based control, Multi-cameras visual servoing.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper deals with the problem of coordinating a dual arm robot equipped with several cameras. Our goal is to propose a vision-based control strategy allowing to realize a real cooperation of the two arms. The idea is to sequence different vision based tasks built from visual features describing the relative pose between the cap and the pen. Simulation results validate our approach.

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Paper citation in several formats:

Fleurmond, R. and Cadenat, V. (2014). Multi-cameras Visual Servoing to Perform a Coordinated Task using a Dual Arm Robot. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 37-44. DOI: 10.5220/0005017700370044

@conference{icinco14,
author={Renliw Fleurmond. and Viviane Cadenat.},
title={Multi-cameras Visual Servoing to Perform a Coordinated Task using a Dual Arm Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={37-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017700370044},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Multi-cameras Visual Servoing to Perform a Coordinated Task using a Dual Arm Robot
SN - 978-989-758-040-6
IS - 2184-2809
AU - Fleurmond, R.
AU - Cadenat, V.
PY - 2014
SP - 37
EP - 44
DO - 10.5220/0005017700370044
PB - SciTePress