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Vision being the most important human sensor and feedback system is considered to play a prominent role in the future of robotics. Robust techniques for visual robot navigation are essential in service robotics tasks. This contribution presents a novel approach to large view visual servoing of a mobile robot with a pan-tilt camera. A predictive camera(More)
Flexible, lightweight manipulators offer some advantages in contrast to rigid arms, such as compact and lighter drives, energy efficiency, reduced masses and costs. This paper presents a novel approach for vibration damping of a multi-link flexible arm. The strain of the elastic arms is measured with Fiber-Bragg-Grating (FBG) sensors and provides the(More)
This paper presents a novel approach to large view visual servoing in the context of object manipulation. In many scenarios the features extracted in the reference pose are only perceivable across a limited region of the work space. The limited visibility of features necessitates the introduction of additional intermediate reference views of the object and(More)
Diese Arbeit ist im Sonderforschungsbereich 531, " Computational Intelligence " , der Universität Dortmund entstanden und wurde auf seine Veranlassung unter Verwendung der ihm von der Deutschen Forschungsgemeinschaft zur Verfügung gestellten Mittel gedruckt. Abstract— Robotic manipulation of daily-life objects is an essential requirement in service robotic(More)
— This paper presents a novel approach to large view visual servoing in the context of object manipulation. In many scenarios the features extracted in the reference pose are only perceivable across a limited region of the work space. The limited visibility of features necessitates the introduction of additional intermediate reference views of the object(More)
– Mobile manipulation in service robotic applications requires the alignment of the end-effector with recognized objects of unknown pose. Image based visual servoing provides a means of model-free manipulation of objects solely relying on 2D image information. This contribution proposes a visual servoing scheme that utilizes the pixel coordinates, scale and(More)