Model-less visual servoing using modified simplex optimization |
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| Authors: | Kanako Miura Koichi Hashimoto Hikaru Inooka Jacques A Gangloff Michel F de Mathelin |
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| Affiliation: | (1) Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki, Aza-Aoba, 980-8579 Sendai, Japan;(2) Graduate School of Information Sciences, Tohoku University, Sendai, Japan;(3) LSIIT UMR CNRS 7005, Strasbourg I University, Strasbourg, France;(4) Present address: Research Laboratories, NTT DoCoMo, WS501, 3-5 Hikarino-oka, 239-8536 Yokosuka, Japan |
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| Abstract: | This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated,
and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in
real time in order to minimize the objective function. The objective function includes the quadratic error between the current
and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also
used near convergence. We successfully validated this method with simulations under the graphic library OpenGL.
This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February
4–6, 2005 |
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| Keywords: | Uncalibrated visual servoing Model-less visual servoing Optimization |
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