scholarly journals Comparison of Uncalibrated Model-Free Visual Servoing Methods for Small-Amplitude Movements: A Simulation Study

10.5772/58822 ◽  
2014 ◽  
Vol 11 (7) ◽  
pp. 108 ◽  
Author(s):  
Josip Musić ◽  
Mirjana Bonković ◽  
Mojmil Cecić
Keyword(s):  
Simulation Study ◽  
Small Amplitude ◽  
Visual Servoing ◽  
Model Free ◽  
Uncalibrated Model

Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots

2016 ◽  
Vol 24 (4) ◽  
pp. 1328-1339 ◽  
Author(s):  
Baoquan Li ◽  
Yongchun Fang ◽  
Guoqiang Hu ◽  
Xuebo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Wheeled Mobile Robots ◽  
Model Free

scholarly journals Model-free vision-based shaping of deformable plastic materials

2020 ◽  
Vol 39 (14) ◽  
pp. 1739-1759 ◽  
Author(s):  
Andrea Cherubini ◽  
Valerio Ortenzi ◽  
Akansel Cosgun ◽  
Robert Lee ◽  
Peter Corke
Keyword(s):  
Neural Network ◽  
Pilot Study ◽  
Visual Servoing ◽  
Robotic Arm ◽  
Visual Features ◽  
Heuristic Methods ◽  
Outer Contour ◽  
Model Free ◽  
Contour Shape ◽  
Plastic Materials

We address the problem of shaping deformable plastic materials using non-prehensile actions. Shaping plastic objects is challenging, because they are difficult to model and to track visually. We study this problem, by using kinetic sand, a plastic toy material that mimics the physical properties of wet sand. Inspired by a pilot study where humans shape kinetic sand, we define two types of actions: pushing the material from the sides and tapping from above. The chosen actions are executed with a robotic arm using image-based visual servoing. From the current and desired view of the material, we define states based on visual features such as the outer contour shape and the pixel luminosity values. These are mapped to actions, which are repeated iteratively to reduce the image error until convergence is reached. For pushing, we propose three methods for mapping the visual state to an action. These include heuristic methods and a neural network, trained from human actions. We show that it is possible to obtain simple shapes with the kinetic sand, without explicitly modeling the material. Our approach is limited in the types of shapes it can achieve. A richer set of action types and multi-step reasoning is needed to achieve more sophisticated shapes.

Simulation Study on Tokamak Relevant Visual Servoing System

2017 ◽  
Author(s):  
Pramit Dutta ◽  
Amit Kumar Srivastava ◽  
Naveen Rastogi ◽  
Krishan Kumar Gotewal
Keyword(s):  
Simulation Study ◽  
Visual Servoing

scholarly journals Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing

2020 ◽  
Vol 5 (4) ◽  
pp. 5252-5259
Author(s):  
Romain Lagneau ◽  
Alexandre Krupa ◽  
Maud Marchal
Keyword(s):  
Shape Control ◽  
Visual Servoing ◽  
Model Free
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