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Conference Paper: Motion Planning from Demonstrations and Polynomial Optimization for Visual Servoing Applications

TitleMotion Planning from Demonstrations and Polynomial Optimization for Visual Servoing Applications
Authors
Issue Date2013
PublisherI E E E.
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 3-7 November 2013. In I E E E International Conference on Intelligent Robots and Systems Proceedings, 2013, p. 578-583, articel no. 6696409 How to Cite?
AbstractVision feedback control techniques are desirable for a wide range of robotics applications due to their robustness to image noise and modeling errors. However in the case of a robot-mounted camera, they encounter difficulties when the camera traverses large displacements. This scenario necessitates continuous visual target feedback during the robot motion, while simultaneously considering the robot's self- and external-constraints. Herein, we propose to combine workspace (Cartesian space) path-planning with robot teach-by-demonstration to address the visibility constraint, joint limits and “whole arm” collision avoidance for vision-based control of a robot manipulator. User demonstration data generates safe regions for robot motion with respect to joint limits and potential “whole arm” collisions. Our algorithm uses these safe regions to generate new feasible trajectories under a visibility constraint that achieves the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. Experiments with a 7-DOF articulated arm validate the proposed method.
Persistent Identifierhttp://hdl.handle.net/10722/199362
ISBN
ISSN

 

DC FieldValueLanguage
dc.contributor.authorShen, Ten_US
dc.contributor.authorRadmard, Sen_US
dc.contributor.authorChan, Aen_US
dc.contributor.authorCroft, Een_US
dc.contributor.authorChesi, Gen_US
dc.date.accessioned2014-07-22T01:15:37Z-
dc.date.available2014-07-22T01:15:37Z-
dc.date.issued2013en_US
dc.identifier.citationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 3-7 November 2013. In I E E E International Conference on Intelligent Robots and Systems Proceedings, 2013, p. 578-583, articel no. 6696409en_US
dc.identifier.isbn9781467363587-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/199362-
dc.description.abstractVision feedback control techniques are desirable for a wide range of robotics applications due to their robustness to image noise and modeling errors. However in the case of a robot-mounted camera, they encounter difficulties when the camera traverses large displacements. This scenario necessitates continuous visual target feedback during the robot motion, while simultaneously considering the robot's self- and external-constraints. Herein, we propose to combine workspace (Cartesian space) path-planning with robot teach-by-demonstration to address the visibility constraint, joint limits and “whole arm” collision avoidance for vision-based control of a robot manipulator. User demonstration data generates safe regions for robot motion with respect to joint limits and potential “whole arm” collisions. Our algorithm uses these safe regions to generate new feasible trajectories under a visibility constraint that achieves the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. Experiments with a 7-DOF articulated arm validate the proposed method.-
dc.languageengen_US
dc.publisherI E E E.-
dc.relation.ispartofI E E E International Conference on Intelligent Robots and Systems Proceedingsen_US
dc.rightsI E E E International Conference on Intelligent Robots and Systems Proceedings. Copyright © I E E E.-
dc.rights©2013 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.titleMotion Planning from Demonstrations and Polynomial Optimization for Visual Servoing Applicationsen_US
dc.typeConference_Paperen_US
dc.identifier.emailChesi, G: chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/IROS.2013.6696409-
dc.identifier.scopuseid_2-s2.0-84893768790-
dc.identifier.hkuros230392en_US
dc.identifier.spage578en_US
dc.identifier.epage583, articel no. 6696409en_US
dc.publisher.placeUnited States-

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