Robotic Hand-Eye Coordination: From Observation to Manipulation

Authors:
Shahram Jafari;Ray Jarvis
Affiliations:
Monash University, Australia;Monash University, Australia
Venue:
HIS '04 Proceedings of the Fourth International Conference on Hybrid Intelligent Systems
Year:
2004

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Robotic eye-to-hand coordination: Implementing visual perception to object manipulation

International Journal of Hybrid Intelligent Systems - Recent developments in Hybrid Intelligent Systems

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Abstract

In this paper, we present a new hybrid method of performing eye-to-hand coordination and manipulation to produce a working robot named COERSU. The method is an optimized combination of two neuro-fuzzy approaches developed by the authors: direct fuzzy servoing and fuzzy correction. The fuzzy methods are tuned by an Adaptive Neuro-Fuzzy Inference System (ANFIS). On the whole, a genetic tuner and two neuro-fuzzy networks contribute to find the final optimum position of the robotic tooltip in order to grasp the target. Experimental results from COERSU in a table-top scenario to manipulate some soft objects (e.g. fruit/egg) also validate the method.