Simultaneously learning to recognize and control a low-cost robotic arm
2009 (English)In: Image and Vision Computing, ISSN 0262-8856, Vol. 27, no 11, 1729-1739 p.Article in journal (Refereed) Published
In this paper, we present a visual servoing method based on a learned mapping between feature space and control space. Using a suitable recognition algorithm, we present and evaluate a complete method that simultaneously learns the appearance and control of a low-cost robotic arm. The recognition part is trained using an action precedes perception approach. The novelty of this paper, apart from the visual servoing method per se, is the combination of visual servoing with gripper recognition. We show that we can achieve high precision positioning without knowing in advance what the robotic arm looks like or how it is controlled.
Place, publisher, year, edition, pages
2009. Vol. 27, no 11, 1729-1739 p.
Gripper recognition; Jacobian estimation; LWPR; Visual servoing
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-21195DOI: 10.1016/j.imavis.2009.04.003OAI: oai:DiVA.org:liu-21195DiVA: diva2:240889
Fredrik Larsson, Erik Jonsson and Michael Felsberg, Simultaneously learning to recognize and control a low-cost robotic arm, 2009, Image and Vision Computing, (27), 11, 1729-1739.
Copyright: Elsevier Science B.V., Amsterdam.