Shape Morphing-Based Control of Robotic Visual Servoing
Autonomous Robots
A Fast Approach for Robot Motion Planning
Journal of Intelligent and Robotic Systems
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
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Vision based grasping holds great promise for grasping in dynamic environments where the object and/or robot are moving. The paper introduces a grasp planning approach for visual servo controlled robots with a single camera mounted at the end effector. Sensory control, mechanical, and geometrical issues in the design of such an automatic grasp planner are discussed and the corresponding constraints are highlighted. In particular, the integration of visual feature selection constraints is emphasized. Some quality measures are introduced to rate the candidate grasps. The grasp planning strategy and implementation issues in the development of an automatic grasp planner (AGP) are described. Simulation and experimental results are presented to verify the correctness of the approach and its effectiveness in dealing with dynamic situations