A Robust Approach to Control Robot Manipulators by Fusing Visual and Force Information
Journal of Intelligent and Robotic Systems
Flexible multi-sensorial system for automatic disassembly using cooperative robots
International Journal of Computer Integrated Manufacturing
Improving detection of surface discontinuities in visual-force control systems
Image and Vision Computing
Contribution to Legged Robot Visual Servoing
KES '07 Knowledge-Based Intelligent Information and Engineering Systems and the XVII Italian Workshop on Neural Networks on Proceedings of the 11th International Conference
Modeling a legged robot for visual servoing
ICCSA'07 Proceedings of the 2007 international conference on Computational science and its applications - Volume Part III
Impedance control for fusing multisensorial systems in robotic manipulation tasks
CONTROL'05 Proceedings of the 2005 WSEAS international conference on Dynamical systems and control
Adaptive visual servoing using common image features with unknown geometric parameters
Automatica (Journal of IFAC)
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A new approach for fusing visual and force information is shown. First, a new method for tracking trajectories, called movement flow-based visual servoing system, which presents the correct behavior in the image and in the three-dimensional space, is described. The information obtained from this system is fused with that obtained from a force control system in unstructured environments. To do so, a new method of recognizing the contact surface and a system for fusing visual and force information are described. The latter method employs variable weights for each sensor system, depending on a criteria based on the detection of changes in the interaction forces processed by a Kalman filter.