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Article: Eye-in-hand Visual Servoing Enhanced with Sparse Strain Measurement for Soft Continuum Robots

TitleEye-in-hand Visual Servoing Enhanced with Sparse Strain Measurement for Soft Continuum Robots
Authors
KeywordsCameras
Motion estimation
Soft robotics
Visual servoing
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 2161-2168 How to Cite?
AbstractIn the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fiber Bragg gratings (FBGs), a type of high-frequency flexible strain sensor, can be used as an assistant device for soft robot control. We propose a method to enhance motion estimation in soft robotic visual servoing by fusing the results from template matching and FBG wavelength shifts to achieve more accurate tracking in applications such as minimally invasive surgery. Path following performance is validated in a simulated laparoscopic scene and LEGO-constructed scene, demonstrating significant improvement to feature tracking and robot motion, even under external forces.
Persistent Identifierhttp://hdl.handle.net/10722/283049
ISSN
2019 Impact Factor: 3.608

 

DC FieldValueLanguage
dc.contributor.authorWANG, X-
dc.contributor.authorFANG, G-
dc.contributor.authorWANG, K-
dc.contributor.authorXie, X-
dc.contributor.authorLEE, KH-
dc.contributor.authorHO, JDL-
dc.contributor.authorTang, WL-
dc.contributor.authorLam, J-
dc.contributor.authorKwok, KW-
dc.date.accessioned2020-06-05T06:24:23Z-
dc.date.available2020-06-05T06:24:23Z-
dc.date.issued2020-
dc.identifier.citationIEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 2161-2168-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/283049-
dc.description.abstractIn the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fiber Bragg gratings (FBGs), a type of high-frequency flexible strain sensor, can be used as an assistant device for soft robot control. We propose a method to enhance motion estimation in soft robotic visual servoing by fusing the results from template matching and FBG wavelength shifts to achieve more accurate tracking in applications such as minimally invasive surgery. Path following performance is validated in a simulated laparoscopic scene and LEGO-constructed scene, demonstrating significant improvement to feature tracking and robot motion, even under external forces.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectCameras-
dc.subjectMotion estimation-
dc.subjectSoft robotics-
dc.subjectVisual servoing-
dc.titleEye-in-hand Visual Servoing Enhanced with Sparse Strain Measurement for Soft Continuum Robots-
dc.typeArticle-
dc.identifier.emailXie, X: xcxie@connect.hku.hk-
dc.identifier.emailTang, WL: at361836@hku.hk-
dc.identifier.emailLam, J: jlam@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityLam, J=rp00133-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2020.2969953-
dc.identifier.scopuseid_2-s2.0-85080916208-
dc.identifier.hkuros310281-
dc.identifier.hkuros310163-
dc.identifier.volume5-
dc.identifier.issue2-
dc.identifier.spage2161-
dc.identifier.epage2168-
dc.publisher.placeUnited States-

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